Method and apparatus for a mounting cone and a wing support for automated cutting of meat

ABSTRACT

The technology as disclosed herein includes a method and apparatus for deboning a meat item, and more particular for deboning a poultry item including performing an initial shoulder cut for removing boneless breast meat from the poultry carcass or frame. The method and apparatus disclosed and claimed herein is a combination of a robotic arm including an ultrasonic knife implement and a vision system for varying the cut path based on the shape and size of the poultry item. The combination as claimed including the ultrasonic knife can perform a meat cut while penetrating the meat with less force than the typical penetration that occurs when using a traditional knife.

CROSS REFERENCE TO RELATED APPLICATION

This Application is Divisional U.S. Utility Patent Application, whichclaims priority to and the benefit of U.S. application Ser. No.16/907,012, entitled Method and Apparatus For Conveying A Meat Productand Using An Ultrasonic Knife For Automated Cutting Of Meat, filed Jun.19, 2020, which claims priority to and the benefit of Ser. No.16/201,294, filed Nov. 27, 2018, entitled Method and Apparatus For UsingUltrasonic Knife For Automated Cutting Of Meat, which claims priority toand the benefit of U.S. Provisional Patent Application Ser. No.62/614,175, filed Jan. 5, 2018, entitled Method and Apparatus For UsingUltrasonic Knife For Automated Cutting Of Meat, whereby the contents ofboth referenced priority applications are incorporated herein byreference in their entirety.

BACKGROUND Field

The technology as disclosed herein relates generally to foodmanufacturing and, more particularly, to a system and method forproducing a deboned meat cut using an ultrasonic knife and conveyorsystem, particularly a poultry meat cut.

Background

Separating animal carcasses into various primal cut components is anintegral part of the meat processing industry. The primal cuts are thenseparated into various sub-primal cuts and further into individual meatcuts. Currently in the meat processing industry, it is common forsub-primal cuts, when being further separated into the variousindividual meat cuts, to be separated manually, whereby operators usehand held powered and unpowered blades to perform the separation.However, there are various apparatus and systems that have beendeveloped to partially or fully automate the separation process.Deboning a whole meat item is also a common practice in the meatmanufacturing industry. The meat separation and more particularly thedeboning process when performed manually can be very labor intensive anddepending on the meat cut can require a significant level of experiencein order to debone the meat item efficiently and quickly and withoutexcessive waste.

Deboning a poultry item can be particularly challenging, labor intensiveand can require a sufficient level of experience and expertise. By wayof illustration, a poultry shoulder cut is made on a poultry item priorto removing deboned breast meat from the carcass. It is a very complexcut such that when the cut is performed manually, it requires anindividual to examine the poultry item, place the knife in the rightlocation, make the knife move through the joint along a certain pathwhile manipulating the wing to a certain position to facilitate the cut,and following a ribcage with a particular cutting path. It can be acomplex, and a detailed cut that has to be performed on each frontportion of each poultry item in order to remove the breast meat.

Robotic and automated systems have been attempted in the industry toperform the poultry shoulder cut to address the problems encounteredwhen performing this cut manually. The systems are generally mechanicaland they don't adequately adjust to the size of each individual fronthalf portion of each poultry item that is processed on the productionline resulting in a loss in yield or quality. Many of the automatedsystems require presorting the poultry item by size. Whereas, anoperator performing this cut manually will visually observe each itemand adjust the cut path as needed based on their prior experience anddeveloped expertise. A method is needed for automated systems to adjustsimilarly and make the cut on each front so that the boneless breastmeat can be harvested more efficiently to produce a higher and moreconsistent yield and quality. Otherwise, it is cost prohibitive toutilize some of the automated systems currently available.

Various automated systems have been developed with limited success.Automated robotic systems with blade implements have been developed thatutilize a standard blade implement at the end of a robotic arm toperform the initial shoulder cut in an attempt to sever tendons aroundthe shoulder joint. The automated system then grabs the wing and pullsthe wing and breast meat off the carcass or frame of the poultry item.However, many automated systems have not been effective in completelysevering the tendons and other connective tissue surrounding theshoulder joint resulting in the breast meat not pulling cleanly awayfrom the carcass. If the automated system severs the tendons and musclegroups along that joint correctly, then the breast meat pulls cleanlyoff the frame (poultry carcass) and there are a number of smaller musclegroups that will also pull cleanly away from the carcass with the breastmeat if the joint is severed properly. However, given the various sizedpoultry items, a cutting path that effectuates a proper cut for a givensized poultry item can vary significantly from bird to bird. When usinga standard blade, the cutting path can't vary much from the mosteffective cutting path and still affect a sufficient cut such that themeat can be readily separated from the bones.

A skilled operator can perform this operation by hand because theskilled operator can visually examine the poultry item and throughexperience and learned skills, the operator can manually maneuver a handheld blade and poultry item to severe the tendons and the joint.However, many automated systems equipped with vision systems foranalyzing the construct and size of the poultry have had difficultyreproducing the manual process. When an operator is performing the cutmanually, the operator can sense with their hand the resistance againstthe blade and can visually see the depth of the cut being made. However,many automated systems don't have the ability to replicate the dynamicsensitivity and awareness of the operator and results in the automatedsystem cutting into bone. Further, a standard blade can't afford to beoff the mark by much and still be effective. Further, automated systemsutilizing a standard blade will necessitate the blade being replaced bya more effective cutting tool or sharpened more regularly in order to bemore effective.

Due to the force required to make the cut, it is difficult to regulatethe depth of the cut, even for a skilled operator. It is even moredifficult for an automated system. An appropriate cut depth must beachieved in order to sever the tendon surrounding the shoulder joint.However, if the cut is too deep, the tool will actually cut into somemeat that was not intended or into an area of the bone that wasunintended and will actually result in the meat remaining on the frame.If the cut is too deep, the tool will cut into meat that will then stayon the frame. If the cut is properly executed, then the tool only seversthe tendons and the breast meat and the smaller muscle group meat willthen pull off with the breast meat when pulled off the frame.

Further, for automated cutting systems positioned along a processingline, there is a need for conveyance and product mounting systems toposition a product being operated on accurately, securely andconsistently in order to maintain uniformity in cuts from item to itembeing processed along a process line.

A better apparatus and/or method for performing a meat cut is needed forthe reasons stated, and more particularly a better method is needed forimproving the shoulder cut methodology for a poultry item for subsequentremoval of the breast meat with improved yield.

SUMMARY

The technology as disclosed herein includes a method and apparatus forperforming a meat cut, particularly a meat cut performed for deboning ameat item, and specifically for performing a shoulder cut as part of theprocess for deboning a meat product from a poultry item includingremoving boneless breast meat from the poultry carcass or frame. Themethod and apparatus disclosed and claimed herein is a combination of arobotic arm including an ultrasonic knife implement and a vision systemcoupled to a controller or other computing device for varying the cutpath based on the shape and size of a meat item, particularly that ofthe poultry item. The combination as claimed including the ultrasonicknife performs a meat cut with less force and more accurately than thetypical penetration that occurs when using a traditional knife. For oneimplementation of the technology, the meat cut, poultry item, or otheritem being operated on is mounted on a mounting fixture or jig andplatform for holding the position of the item being operated on. For oneimplementation of the mount/jig and platform, the mount includes acarriage configured to traverse on a track, such that the mount isconfigured to linearly traverse along the track.

The ultrasonic knife operates smoothly and requires less penetration inorder to sever targeted tendons. With less force, the ultrasonic knifeis able to excuse itself through the joint areas and will only cut thosetendons and muscle groups needed, and actually tends not to trim offbone. Whereas, if a conventional knife is used, then as the knife ispenetrating through a particular area, the knife has the tendency to cutthrough whatever is in its path. However, it takes a lot of force to cutthrough bone, which is part of the problem with using a traditionalknife or blade implement. The ultrasonic knife tends to somewhat excuseitself through the joint area only cutting tendons and muscle groups asopposed to bones. The ultrasonic nature of the blade tends to allow theblade to move more smoothly through a cut and sever an item with lessforce being applied as compared to a traditional knife. If a traditionalblade implement is utilized, more force is required to make the cutwhether the cut is being performed with an automated system or beingperformed manually, therefore, the possibility of cutting muscle groupsunintentionally or cutting bone increases. Therefore, the work beingdone by the high frequency low amplitude of the ultrasonic knife andblade is more efficient.

The technology as disclosed and claimed herein uses a combination ofcontrolling a robotic arm with a computer executed algorithm adjusted byinputs from a vision system in combination with the use of an ultrasonicblade in order to implement the cut. The computer executed algorithmcontrols the path of the robotic arm and ultrasonic knife implement.

A cutting path algorithm with inputs from a vision system creates a cutpath. The algorithm and the vision system looks at a poultry front half,revert it in space, reads the size of it and identifies joint placement,and places the ultrasonic knife in the correct and optimal position andcreates/defines the correct and optimal cut path around the shoulderjoint to sever that breast muscle from the shoulder joint so that thebreast meat can be cleanly pulled from the frame. The frequency of theblade can operate in the range of about approximately 18,000 Hz andabove. For one implementation of the blade, the bevel of the cuttingedges of the blades are from about approximately 15 degrees+/−1 degreeto about approximately 70 degrees+/−2 degrees. However, the bevel of theblade can vary beyond this range depending on the meat item beingoperated on without departing from the scope of the invention. It is theultrasonic wave and agitation initiated in the meat that cause the meatto sever and not only the sharpness of the edge of the ultrasonic blade.

Sound is often described as a vibration that is transmitted through amedium. Ultrasonic waves are an “inaudible sound,” the frequency ofwhich generally exceeds about approximately 18-20 kHz. A 20-kHzfrequency means that a certain medium vibrates 20,000 times per second.An ultrasonic cutter vibrates its blade with an amplitude of 10-70 μm inthe longitudinal direction. The vibration is microscopic, so it cannotbe seen with the human unassisted eye. The movement repeats18,000-40,000 times per second (18-40 kHz). Because of this movement,the ultrasonic cutter/knife can easily cut food items including meat,resin, rubber, nonwoven cloths, film, composite materials in whichvarious products are superposed. An ultrasonic cutter/knife is composedof a “transducer” that generates vibration and an “oscillator” thatdrives the transducer. For one implementation, a piezoelectric elementis used for the transducer. When voltage is applied, the piezoelectricelement displaces the transducer by a few micrometers. Periodicallyapplying voltage generates vibration. Each object has its specialfrequency, by which the object is stable and easy to vibrate. By addingan external force that corresponds to that special frequency, a smallforce can obtain a large vibration. This phenomenon is called resonance.In an ultrasonic cutter/knife, the piezoelectric element generates aforce that resonates the whole body, from the transducer to the bladetip and/or cutting edge, generating a large vibration at the tip and/orcutting edge. The oscillator periodically generates a voltage toresonate and drive the transducer. Using a component of the ultrasoniccutter/knife called the horn/Sonotrode to wring the cross-sectionalarea, from the piezoelectric element to the blade tip/blade edge, canobtain a larger vibration.

The vibration of the blade makes the cutting faster because thevibration of the blade also slices the material being cut in addition tothe force that is being applied to the blade. If the vibrations arealong the correct axis, as in said knife, then they'll do the exact samething as a standard knife would do when the tip or cutting edge ispushed into a material for cutting, that is applying a force, meaningthat the knife does most of the work in cutting because the vibrationperforms the same work as would be provided by applying a force to astandard cutter/knife blade.

The ultra-sonic generator converts the power supply (100-250 Volts,50-60 Hz) into a 20 to 30 kHz, 800-1000 Volts electrical signal. Thissignal is applied to piezo-electrical ceramics (included in theconverter) that will convert this signal into mechanical oscillations.These oscillations will be amplified by the booster and converter. Theconverter converts electricity into high frequency mechanical vibration.The active elements are usually piezo-electrics ceramics. The booster(optional) serves as an amplitude transformer.

The actuator vibrates at an extremely high frequency, making itultrasonic, and it is these waves of vibration that are transmitted bythe horn of the actuator all the way to the blade itself. The vibrationsare created at the actuator and are transferred by the horn to a freemass. The free mass vibrates between the blade and the horn of theactuator to transmit the vibrations down the blade. The repetitiveimpact on the blade by the free mass, creates stress pulses thattransmit to the tip/blade edge of the blade and into the item being cut.Ultimately, the repetitive cutting of the blade produces enough strainon the surface of the item being cut to fracture it. The effect ofultrasonic cutting parameters, such as resonant frequency, mode ofvibration, blade tip sharpness, cutting force, cutting speed, and bladetip/blade edge amplitude are all factors.

Ultrasonic food cutting technology goes beyond the limits ofconventional cutting systems by utilizing a vibrating blade as opposedto a static blade. The vibrations create an almost frictionless cuttingsurface, providing neater cuts, faster processing, minimal waste, longerblade life and less downtime. The induced oscillation at the cuttingedge of the sonotrode with defined vibration amplitude results in fasterand more efficient cutting due to less mechanical cutting force neededin comparison to other conventional blade methods or laser cuttersand/or water jet cutters. The pressure on the item to be cut can bereduced due to the high number of frequencies per second. This creates aclean cut face. Ultrasound application for cutting enhances the cutsurface quality, lowers the energy for cutting and improves the cutexactness. The induced oscillation at the cutting edge of the sonotrodewith defined vibration amplitude results in faster and more efficientcutting due to less mechanical cutting force needed in comparison toother conventional methods such as standard blades, laser cutters andwater jet cutters. In fact, the vibration reduces the frictionresistance at the cutting surface. The ultrasonic knife in combinationwith the vision system as disclosed and claimed herein provide for aneffective method and system.

In contrast, when cutting with standard cutting blades the main aim ofthe cutting process is to break internal bonds in a material bystressing structural elements; this is achieved by the progressivemotion of a mechanical tool having a sharpened cutting edge. The stresswithin the material to be cut is directly proportional to the appliedforce, and inversely proportional to the contact area. Cutting startswhen the total stress exceeds the internal strength of the cuttingmaterial. Food products are predominantly characterized by iso-elasticdeformation properties that are associated with the ability towardstress relaxation and creep deformation. These time—dependent effectsare responsible for the scattering of deformation energy in the zonewhere the cutting edge contacts the product, and for the expandingdeformation. Therefore, the cutting velocity must exceed the stressrelaxation velocity to reach the fracture limit; otherwise, the productwill not be cut, but rather squeezed. In addition to the desiredseparation, there is some displacement of the cutting material while thecutting tool penetrates the item. This displacement is responsible forthe special features and characteristics as regards the cutting offoods.

When a standard knife with a defined wedge angle a and a blade thicknessd cuts into a semi-solid material, three zones with differentdeformation characteristics can he distinguished: a separation zone inthe immediate vicinity of the cutting edge, a deformation zone along thewedge, and a compression zone along the flank of the blade. In thesedeformation zones (the individual force components acting on the bladeplay different roles. Upon contact with the edge of the knife, theproduct will be pushed down. The stress in the separation zonepropagates and increases because of the resistance of the material untilthe fracture stress is exceeded. The characteristic force component atthis stage is the cutting resistance FR which, apart from cohesiveforces in the material, is heavily influenced by the sharpness of thetool in the deformation zone, the action of the wedge leads to biaxial(horizontal and vertical) deformation, the magnitude of which depends onwedge angle and blade thickness.

When referring to the deformed or distorted fraction of the material, itis necessary to distinguish between a zone of plastic deformation,located in the close vicinity of the cutting edge, and a zone of elasticdeformation, which follows the zone of plastic deformation. Lateraldisplacement leads to the deformation force F_(w), which is alsoresponsible for the formation of frictional F_(w) along the wedgesurface. Further displacement of the material causes the generation oflateral compression forces F₁ in the compression zone, which becomesimportant since the relative motion accounts for frictional forces alongthe tool flanks. F₁ increases with blade thickness and is of highrelevance when cutting products with high friction coefficients. Theproperties of the material from which the blade is constructed are,along with lateral forces, responsible for the friction that occursbetween the product and the knife along the wedge amid the flank, whichis significantly involved in the formation of the plastic deformationzone. For efficient cutting, it is especially the plastic deformationthat must be efficiently controlled to protect cutting segments fromirreversible damage. It is, therefore, extremely important to keep thewedge angle, the thickness of the blade, and the flank area that is indirect contact with the food as small as possible. Otherwise, thecutting tool must show a sufficient firmness to resist the cuttingforces.

Ultrasonic cutting can be distinguished from conventional cutting with astandard blade by the specific motion characteristics of the cuttingtool, as the conventional movement of the device is super positioned byultrasonic vibration. Generally, the sonotrode acts as a mechanicalresonator, which vibrates mainly longitudinally along the vibrationaxis. The sonotrode may even act as the cutting tool which, however,requires maximum amplitudes at the cutting edge, or may act as acoupling unit for an independent cutting blade. To ensure stableperformance, the entire vibrating system is tuned to a constantoperating frequency. Depending on the mounting of the cutting tool, thesonotrode and on the orientation of the cutting edge relative to thevibration axis, three main configurations may be distinguished: Thevibration axis and the moving axis of the cutting tool are identical,but the main vibration axis is perpendicular to the cutting edge. Thisis, for example, true in a guillotine—type cut where the stress andstrain acting on the material due to the macroscopic iced motion isintensified or diminished by a periodical stress with a high frequency(that is. 20-50 kHz) and a low amplitude (in the micrometer range).Stress and strain are mainly exerted in the separation zone where theedge is in contact with the crack tip in the product.

The principle of ultrasonic cutting machine is totally different fromthat of traditional cutting. It uses the energy of ultrasonic waves toheat and melt the parts of the cut material, so as to achieve thepurpose of cutting the material. Therefore, Ultrasonic cutting does notrequire as sharp of a cutting edge as compared to a traditional blade,nor does it require great pressure, which will not cause the edgebreakage and damage of the cutting material. At the same time, becausethe cutting tool is doing ultrasonic vibration, the friction resistanceis very small, the cut material is not easy to stick to the blade. Thisis especially effective for cutting the viscous and elastic materials,frozen materials, such as food, or objects that are difficult to applypressure.

One implementation of the technology as disclosed and claimed herein isan automated computer controlled method for performing a cut on a meatitem, which includes capturing a three dimensional image of a meat itemwith a three dimensional vision system coupled to a computer thatgenerates 3-dimensional point cloud data representative of the meatitem. The vision system can include one or more digital cameras or threedimensional sensors or three dimensional scanners, such as a laserscanner that is operable to capture a three dimensional digital image ofa poultry item or other meat item and transmit the digital image to acomputer system for further processing of the data. A point cloud is aset of data points in some coordinate system. In a three-dimensionalcoordinate system, points are defined by Cartesian or polar coordinates.The point cloud is intended to represent the external three dimensionalsurface of an object—in this case a poultry item or other meat item.Point clouds may be created by vision systems. The vision systemcaptures an image of the item in question and derives from the capturedimage and measures a large number of points on an object's surface, andoften output a point cloud as a data file to a computing system. Thepoint cloud represents the set of points the device has measured.

One implementation of the technology also includes comparing, with acomparison algorithm processing on a computer, the generated point clouddata with one or more electronically stored point cloud template datasets and selecting the point cloud template data set that most closelymatches the generated point cloud data as generated by the vision systemand associated computing system. Various point comparison techniques canbe utilized for the comparison algorithm processing on the computersystem. The point cloud template data sets are various data sets thatare statistically representative of the size and shapes of a typicalbird being processed. These templates are associated with typicalskeletal bone and tendon positions that are typical for a poultry havinga particular shape and/or size. Three dimensional data matching isperformed comparing the point cloud for the captured image with thevarious templates. One approach for comparing point clouds that is usedby the comparison algorithm is based on local feature descriptors. Thepoint cloud for the captured image is cropped and the cropped data istransformed to a set of distinctive local features each representing aregion. The features are characterized with descriptors containing localsurface properties for matching with the templates. An iterative closestpoint methodology is one approach utilized by the comparison algorithmfor another implementation. However, various other matching/comparisontechniques can be utilized without departing from the scope of thetechnology as disclosed and claimed herein.

The method includes aligning with a computer the selected point cloudtemplate data set with a cropped version of the generated point clouddata and calculating a three dimensional cut path based on the alignmentusing statistically representative data for a given size bird, whichstatically defines the location of the various portion of the anatomyincluding muscle, joint tendon and bone structures and placement, andsaid cut path is calculated to have a minimal cutting depth whilesufficient to sever the tendons around the shoulder joint. Oneimplementation of the technology includes calculating a cut path andarticulating a blade with multiple degrees of freedom while cutting ameat item. One example of a meat item is a poultry item and one exampleof a cut is a shoulder cut.

One implementation includes articulating the blade with 6 or moredegrees of freedom while cutting a meat item. However, fewer degrees offreedom can be implemented with departing from the scope of thetechnology as disclosed and claimed herein. One implementation can alsoinclude controlling an automated robotic arm having an ultrasonic knifeimplement to cause a blade of the ultrasonic knife implement to traversealong the cut path of the meat item. One specific example of using thismethodology is where the meat item is a poultry item and the cut path isa shoulder cut path. One function of the technology is to perform thesevering of the tendons around the shoulder joint with the ultrasonicknife as the ultrasonic knife travels along the cut path. A further stepof the method can include grasping and pulling the wing of the poultryitem and pulling the breast meat off a frame of the poultry item, wherethe cutting path depth is sufficient to sever the shoulder joint.

For one implementation, a point cloud is a set of data points in space.The point clouds can be produced by a 3D scanner, which measures a largenumber of points on the external surfaces of objects around them, inthis case of the present technology, the object is a meat item beingoperated on. As the output of 3D scanning processes, point clouds areused for many purposes, including to create 3D CAD models formanufactured parts, for metrology and quality inspection, and for amultitude of visualization, animation, rendering and mass customizationapplications. In this case, the point cloud scanning process is used fora meat item. The point clouds are aligned with 3D models of the itembeing operated on, or with other point clouds, a process known as pointset registration. In computer vision and pattern recognition (theautomated recognition of patterns and regularities in data), point setregistration, also known as point matching, is the process of finding aspatial transformation that aligns two point sets. This methodology isutilized to match the point set of the capture image with the point setof the template of the item to be operated on.

The field of pattern recognition is concerned with the automaticdiscovery of regularities in data through the use of computer algorithmsand with the use of these regularities to take actions such asclassifying the data into different categories such as categorizingparts of an object such as the shoulder area of a poultry item and fromthat information determining the likely anatomical structure andlocation based on statistically representative data. Pattern recognitionalgorithms are used to provide a reasonable answer for all possibleinputs and to perform “most likely” matching of the inputs, taking intoaccount their statistical variation. This is opposed to pattern matchingalgorithms, which look for exact matches in the input with pre-existingpatterns.

Pattern recognition is generally categorized according to the type oflearning procedure used to generate the output value. For oneimplementation of the technology as disclosed and claimed, supervisedlearning is used, which provides a set of training data (the trainingset), in this case the point cloud templates of different sized poultryitems, consisting of a set of instances that have been properly labeledwith the correct output. A learning procedure then generates a modelthat attempts to meet two sometimes conflicting objectives: Perform aswell as possible on the training data, and generalize as well aspossible to new data. For one implementation, unsupervised learning canbe utilized, which assumes training data that has not been labeled, andattempts to find inherent patterns in the data that can then be used todetermine the correct output value for new data instances.

The purpose of finding such a transformation includes merging multipledata sets into a globally consistent model, and mapping a newmeasurement to a known data set to identify features or to estimate itsposition. A point set may be raw data from 3D scanning or an array ofrangefinders. For use in image processing and feature-based imageregistration, for one implementation a point set is a set of featuresobtained by feature extraction from an image, for example cornerdetection. Point set registration is used in optical character or objectrecognition, augmented reality and aligning data from magnetic resonanceimaging with computer aided tomography scans. In the present case, thetechnology is utilized to recognize the portions of a poultry item.While point clouds can be directly rendered and inspected, for oneimplementation, point clouds are converted to polygon mesh or trianglemesh models, surface models, or CAD models through a process commonlyreferred to as surface reconstruction.

One implementation of the technology disclosed and claimed hereinincludes capturing a 3D image of a poultry item and converting the imageto a point cloud. The point cloud of the converted live image iscompared to the one or more of the pre-stored point cloud templatesrepresentative of known different sized and shaped poultry items and theclosest matching template point cloud is chosen. A cutting path controlalgorithm is retrieved that corresponds with the closest matchingtemplate point cloud. The closest matching template point cloud is thenregistered with converted live image point cloud, adjustments are madeto the matching template point cloud and the cutting path is adjustedaccording and the cut is performed. There are many techniques forconverting a point cloud to a 3D surface. Some approaches, like Delaunaytriangulation, alpha shapes, and ball pivoting, build a network oftriangles over the existing vertices of the point cloud, while otherapproaches convert the point cloud into a volumetric distance field andreconstruct the implicit surface so defined through a marching cubesalgorithm.

Yet another implementation of the technology as disclosed and claimedherein includes capturing a 3D image of the surface of a poultry itemusing a 3D Laser Profiler to determine the size of a poultry item and tothereby assign a cut path strategy. There are a number of techniquesavailable for 3D Laser Profiler imaging, including 3D laser profilersthat use a laser triangulation technique to deliver high resolutionmeasurements and that use a time of flight technique. In the case of atriangulation technique, the 3D Laser Profiler emits a laser onto anobject of interest; and the reflection's position in the sensor's fieldof view allows the scanner to triangulate the point in space at whichthe laser hits the object. This is repeated over the surface of theobject of interest. Laser scanners are designed for dynamic measurementtasks with high demands on resolution and accuracy. The 3D laserprofiler is utilized for automation in a high throughput environment andis particularly useful for demanding surfaces like that of a poultryitem. The 3D Laser Profiler determines the size of the poultry item. Thesize of the poultry item is utilized to identify a typical anatomicalstructure and corresponding cut path strategy for a poultry item of agiven size. Known typical bird sizes having a corresponding typicalanatomical bone and muscle structure and orientation based onstatistically collected and stored data. A cut path is determinedaccordingly. Red or Blue laser light scanners are utilized. Blue LaserTechnology, offers some advantages in various measurement tasks comparedto sensors with a red laser diode. Blue-violet laser light hardlypenetrates the measurement object, which can be particularly importantwith organic materials. Whether using a 3D Point Cloud method or a 3Dlaser profiler, both interface with a PLC and the front half size ofsurface is determined and a Z value is returned that directs the cutpath and the starting point of the cut.

One implementation of the ultrasonic debone system includes a debonetrack mount assembly or carriage assembly. The debone track mountassembly or carriage assembly includes a debone mount jig for holdingthe item being operated on. For one implementation a whole carcasspoultry item is mounted on the debone mount jig by inserting the mountthrough the cavity opening on a bottom front half of a whole carcasspoultry item, whereby the debone mount penetrates into the poultrycarcass item and stabilizes the position of the poultry item for thedeboning operation. The debone track mount and track conveyor isconfigured to convey the debone track mount adjacent to a cuttingstation for the cutting operation. For one implementation of the debonemount jig, the mount is cone shaped where the top portion or apex of thecone having a smaller diameter is oriented vertically above the bottomportion having a larger diameter with respect to the top portion. Theangle of the conical shape of the mount widens from the top to thebottom where the slope or rate of increase in diameter of the conicalshaped from top to bottom allows the top of the mount to be insertedinto the thoracic inlet while at the same time the slope of the mount issufficient to spread the clavicle and position the shoulder joint in asufficiently stable and constant position to stabilize and ready thepoultry item for the cutting process.

The wings of the poultry carcass are extended to straddle over wingsupports. The pit of the wings are supported by the top upward facingsurface of the wing supports. The top upward facing surface as disclosedand claimed herein has a downward extending angle with respect tohorizontal, thereby urging the pit of the wings to rest and be capturedin a corner formed by the upward facing surface an and a memberextending orthogonally with respect to the upward facing surface. Theurging of the wing pit to the corners further stabilizes the poultryitem for further operation. The wing supports are spaced away fromdebone mount in order to extend the wings.

For one implementation of the apparatus, the debone mount jig is mountedon a stand and the wing supports are also mounted to the stand usingstand-off mounts, which provide a spacing between wing supports and thestand. The stand is mounted on a carriage, where the carriage isconfigured to traverse the debone track mount assembly along a track tofurther position the poultry item during the deboning process.

The features, functions, and advantages that have been discussed can beachieved independently in various implementations or may be combined inyet other implementations further details of which can be seen withreference to the following description and drawings.

These and other advantageous features of the present technology asdisclosed will be in part apparent and in part pointed out herein below.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the present technology as disclosed,reference may be made to the accompanying drawings in which:

FIGS. 1A and 1B are illustrating a computer based imaging system forgenerating point cloud data;

FIGS. 1C and 1D are illustrating a computer based imaging system forgenerating volumetric range data;

FIG. 2 is an illustration of an apparatus configured with an ultrasonicknife attached to a robotic arm mounted on a frame;

FIGS. 3A through 3C are illustrating an apparatus configured with anultrasonic knife attached to a robotic arm mounted on a frame withportions of the frame redacted from the view for clarity;

FIG. 3D is an illustration of an apparatus configured with an ultrasonicknife attached to a robotic arm mounted on a frame with portions of theframe redacted from the view for clarity and illustrating an explodedview of the product mount for clarity;

FIGS. 4A through 4M are an illustration of one implementation for thedebone track mount;

FIG. 4N an illustration of one implementation for the debone track mountwith the cone and carriage rotated;

FIGS. 4O through 4S are an illustration of one embodiment of thecarriage assembly;

FIGS. 5A through 5D are an illustration of a track conveyance and breastremoval system;

FIGS. 5E through 5L are an illustration of a breast removal stationalong the track conveyance system;

FIGS. 6A through 6I illustrate a combination linear and magneticcarriage track conveyor system;

FIGS. 7A through 7I illustrate the breast removal line; and

FIGS. 8A through 8C illustrate a further embodiment of a breast removalline.

While the technology as disclosed is susceptible to variousmodifications and alternative forms, specific implementations thereofare shown by way of example in the drawings and will herein be describedin detail. It should be understood, however, that the drawings anddetailed description presented herein are not intended to limit thedisclosure to the particular implementations as disclosed, but on thecontrary, the intention is to cover all modifications, equivalents, andalternatives falling within the scope of the present technology asdisclosed and as defined by the appended claims.

DESCRIPTION

According to the implementation(s) of the present technology asdisclosed, various views are illustrated in FIGS. 1-8 and like referencenumerals are being used consistently throughout to refer to like andcorresponding parts of the technology for all of the various views andfigures of the drawing. Also, please note that the first digit(s) of thereference number for a given item or part of the technology shouldcorrespond to the Fig. number in which the item or part is firstidentified.

One implementation of the present technology as disclosed comprises acomputer controlled robotic arm with an ultrasonic knife implement,which teaches an apparatus and method for performing a cut path forprocessing a deboned meat cut, particularly a poultry cut.

The details of the technology as disclosed and various implementationscan be better understood by referring to the figures of the drawing.Referring to FIGS. 1A and 1B, one implementation of the technology isdisclosed, which includes an automated computer controlled method forperforming a meat cut, which includes capturing a three dimensionalimage of a meat item with a three dimensional imaging system 102,including a vision system 108 coupled to a computer that generates pointcloud data 110 representative of a meat item 104. The vision system 102includes one or more digital cameras or three dimensional sensors orthree dimensional scanners 108, such as a laser scanner, that isoperable to capture a three dimensional digital image of a poultry item104 (or other meat item) positioned on a mounting stand 103 that isplaced within the field of view of the vision system 108 or other meatitem and the vision system transmits the digital image to the computersystem for further processing of the data.

The image that is captured is converted to a point cloud data setrepresentative of the captured image. The point cloud data has aresolution or point density and spacing between points sufficient toresolve the size of a poultry item and correlate to the statisticallyrepresentative anatomical structure. The computing system is coupled toan ultrasonic knife assembly 106 that performs the cut. A point cloud isa set of data points in some coordinate system. In a three-dimensionalcoordinate system, the data points are defined by Cartesian coordinatesor polar coordinates. The point cloud is intended to represent theexternal three dimensional surface of an object—in this case a poultryitem or other meat item. Point clouds may be created from scans providedby 3D scanners 108 or cameras having sufficient resolution. For oneimplementation the cameras/scanners have a 1080×1080 resolution orbetter. These scanners/cameras capture a sufficient high resolutionimage from which the system can measure a large number of points on anobject's surface, and output a point cloud as a data file 110 to acomputing system. The point cloud data 110 represents the set of pointsderived from the image that the sensor 108 has captured and measured.

One implementation of the technology also includes comparing 114 thepoint cloud computer generated data 110 with one or more point cloudtemplate data sets 112 and selecting 118 the point cloud template dataset that most closely matches the generated point cloud data. One ormore point comparison techniques are utilized. The point cloud templatedata sets 112 are various data sets that are statisticallyrepresentative of the size and shapes of a typical bird being process.These templates are associated with typical skeletal bone and tendonpositions that are typical for a poultry having a particular shapeand/or size. Three dimensional data matching 114 is performed comparingthe point cloud for the captured image with the various templates. Oneapproach for comparing point clouds is based on local featuredescriptors. The point cloud for the captured image can be cropped andthe cropped data can be transformed to a set of distinctive localfeatures each representing a region. The features are characterized withdescriptors containing local surface properties for matching with thetemplates. For one implementation of the technology, an iterativeclosest point methodology can then be utilized. However, for otherimplementations various other matching techniques can be utilized.

For one implementation, the method includes aligning 120 with thecomputer the selected point cloud template data set 118 with a croppedversion 116 of the generated point cloud data and calculating a threedimensional cut path 122 based on the alignment 120 and said cut path122 is calculated to have a minimal cutting depth while having asufficient cutting depth to sever the tendons around the shoulder joint.

One implementation of the technology is an automated computer controlledsystem 132 for performing a meat cut, which includes a three dimensionalvision system 140 coupled to a computer 132, where said vision systemand computer captures a three dimensional image of a meat item where thecomputer generates point cloud data with a point cloud engine 142processing at the computer. The point cloud data is representative ofthe captured three dimensional image of the meat item. Oneimplementation of the technology includes a database 134 having storedthereon one or more retrievable point cloud template data sets 150 andseparate cut path control data 152 corresponding to each of one or morepoint cloud template data sets. The control data can be interpreted bythe computing system to control the cut path of the blade. A selectionengine 144 is processing at the computer and comparing the generatedpoint cloud data, with one or more point cloud template data sets 150stored in the database 134 and selecting the best matching point cloudtemplate data set that most closely matches the generated point clouddata.

One implementation of the technology includes a cropping function 146executing at the computer to thereby crop the point cloud data, therebyproviding a cropped version of the point cloud data and said computerhaving stored thereon said cropped version of the point cloud data. Analignment and cut path adjustment engine 148 is processing at thecomputer to thereby align the selected point cloud template data setwith the cropped version of the generated point cloud data therebydefining alignment adjustments and retrieving the cut path control datathat corresponds to the selected best matching point cloud template. Acut path control engine processing at the computer, thereby calculatesor maps a final cut path from the retrieved cut path corresponding tothe selected best matching point cloud template based on the definedalignment adjustments. The cut path control engine 149 thereby controlsand articulates a control arm 138 of a blade of an ultrasonic knifealong the calculated or mapped final cut path with multiple degrees offreedom while cutting a meat item, where articulating along a final cutpath includes vibrating the blade at an ultrasonic frequency. A roboticarm controller 136 controls the ultrasonic knife implement to cause ablade of the ultrasonic knife implement to vibrate at an ultrasonicfrequency. For one implementation of the technology, the one or morepoint cloud template data sets 150 stored in a database 134 isrepresentative of a poultry item and the cut path control data is for ashoulder cut path. The ultrasonic knife is positioned at a series ofpositions along the cut path to perform the cut as controlled by thecomputing system. Once the cut is performed, a grasping implement graspsand pulls the wing of the poultry item and pulls the breast meat off aframe of the poultry item.

Referring to FIGS. 1C and 1D, an illustration of a computer basedimaging system for generating volumetric range data is provided. Oneimplementation of the technology is disclosed, which includes anautomated computer controlled method for performing a meat cut, whichincludes capturing a three dimensional image of a meat item with a threedimensional imaging system 154, including a vision system 160 coupled toa computer that determines a volumetric range representative of a meatitem 156. The vision system 160 includes one or more digital cameras orthree dimensional sensors or three dimensional scanners, such as a laserscanner, that is operable to capture a three dimensional digital imageof a poultry item 156 (or other meat item) positioned on a mountingstand 164 that is placed within the field of view of the vision system160 or other meat item and the vision system transmits the digital imageto the computer system for further processing of the data. The image iscaptured and from the image, a volumetric range is determinedrepresentative of the captured image that correlates to estimatevolumetric range of the item being scanned. The image data has aresolution or point density and spacing between points sufficient toresolve the size of a poultry item and correlate to a volumetric rangeand the statistically representative anatomical structure. Thevolumetric range is correlated to a statistically representativeanatomical structure of a poultry item, which is used to determine thedepth of the poultry item from the shoulder joint to the outer contoursof the breast area (z-offset) so that the depth of the cut path isdetermined. The computing system is coupled to an ultrasonic knifeassembly 158 that performs the cut. A volumetric range is the volumerange within which it is determined that the volume of the item beingscanned falls. In a three-dimensional coordinate system, the data pointsare defined by Cartesian coordinates or polar coordinates. The scanneddata is intended to represent the external three dimensional surface ofan object—in this case a poultry item or other meat item. A volumetricrange is determined based on the data. For one implementation thecameras/scanners have a 1080×1080 resolution or better. Thesescanners/cameras capture a sufficient high resolution image from whichthe system can measure a volumetric range 162.

One implementation of the technology also includes comparing 168 thedetermined volumetric range with one or more template volume ranges 166and selecting 172 the volume range template data set that most closelymatches the determined volume range. One or more comparison techniquesare utilized. The volumetric range template data sets 166 are variousdata sets that are statistically representative of the volume range—sizeand shapes of a typical bird being process. These templates areassociated with typical skeletal bone and tendon positions that aretypical for a poultry having a particular shape and/or size. Threedimensional data matching 168 is performed by comparing the determinedvolumetric range for the captured image with the various volume rangetemplates. The volumetric range template selected for the captured imagecan be normalized 170 and aligned.

For one implementation, the method includes aligning 174 with thecomputer the selected volumetric range data set 172 with a volumetricrange captured by the image data and retrieving a three dimensional cutpath 176 based on and corresponding with the selected 172 volumetricrange.

One implementation of the technology is an automated computer controlledsystem 178 for performing a meat cut, which includes a three dimensionalvision system 182 coupled to a computer 178, where said vision systemand computer captures a three dimensional image of a meat item where thecomputer generates volumetric range data with a volumetric engine 188processing at the computer. The volumetric range data is representativeof the captured three dimensional image of the meat item and the volumeof the item. One implementation of the technology includes a database180 having stored thereon one or more retrievable volumetric rangetemplate data sets 196 and separate cut path control data 198corresponding to each of one or more volumetric range template datasets. The control data for a cut path can be interpreted by thecomputing system to control the cut path of the blade. A selectionengine 190 is processing at the computer and comparing the volumetricrange image data, with one or more volumetric range template data sets196 stored in the database 180 and selecting the best matchingvolumetric range template data set that most closely matches thegenerated volumetric range data from the captured image.

One implementation of the technology includes a normalization function192 executing at the computer to thereby normalize the volumetric rangedata, thereby providing a normalized version of the volumetric data andsaid computer having stored thereon said normalized version of the pointcloud data. An alignment and cut path adjustment engine 194 isprocessing at the computer to thereby align the selected volumetricrange template data set with the normalized version of the volumetricrange data thereby defining alignment adjustments and retrieving the cutpath control data that corresponds to the selected best matchingvolumetric range template. A cut path control engine 195 processing atthe computer, thereby calculates a final cut path from the retrieved cutpath corresponding to the selected best matching volumetric rangetemplate based on the defined alignment adjustments.

The cut path control engine 195 thereby controls and articulates acontrol arm 186 of a blade of an ultrasonic knife along the calculatedfinal cut path with multiple degrees of freedom while cutting a meatitem, where articulating along a final cut path includes vibrating theblade at an ultrasonic frequency. A robotic arm controller 184 controlsthe ultrasonic knife implement to cause a blade of the ultrasonic knifeimplement to vibrate at an ultrasonic frequency. For one implementationof the technology, the one or more volumetric range template data sets196 stored in a database 180 is representative of a poultry item and thecut path control data is for a shoulder cut path. The ultrasonic knifeis positioned at a series of positions along the cut path to perform thecut as controlled by the computing system. Once the cut is performed, agrasping implement grasps and pulls the wing of the poultry item andpulls the breast meat off a frame of the poultry item.

Yet another implementation of the vision system technology as disclosedand claimed herein includes capturing a 3D image of the surface of apoultry item using a 3D Laser Profiler to determine the size of apoultry item and to thereby assign a cut path strategy. There are anumber of techniques available for 3D Laser Profiler imaging, including3D laser profilers that use a laser triangulation technique to deliverhigh resolution measurements and that use a time of flight technique. Inthe case of a triangulation technique, the 3D Laser Profiler emits alaser onto an object of interest; and the reflection's position in thesensor's field of view allows the scanner to triangulate the point inspace at which the laser hits the object. This is repeated over thesurface of the object of interest. Laser scanners are designed fordynamic measurement tasks with high demands on resolution and accuracy.The 3D laser profiler is utilized for automation in a high throughputenvironment and is particularly useful for demanding surfaces like thatof a poultry item. The 3D Laser Profiler determines the size of thepoultry item. The size of the poultry item is utilized to identify atypical anatomical structure and corresponding cut path strategy for apoultry item of a given size. Known typical bird sizes having acorresponding typical anatomical bone and muscle structure andorientation based on statistically collected and stored data. A cut pathis determined accordingly. Red or Blue laser light scanners areutilized. Blue Laser Technology, offers some advantages in variousmeasurement tasks compared to sensors with a red laser diode.Blue-violet laser light hardly penetrates the measurement object, whichcan be particularly important with organic materials. Whether using a 3DPoint Cloud method or a 3D laser profiler, both interface with a PLC andthe front half size of surface is determined and a Z value is returnedthat directs the cut path and the starting point of the cut.

Referring to FIG. 2 , one implementation of the technology as disclosedand claimed herein includes controlling with a computing system anautomated robotic arm 204 having an ultrasonic knife implement 206 tocause a blade 208 of the ultrasonic knife implement to traverse alongthe cut path of the meat item. One specific example of using thismethodology is where the meat item is a poultry item and the cut path isa shoulder cut path. One function of the technology is to perform thesevering of the tendons around the shoulder joint with the ultrasonicknife as the ultrasonic knife travels along the cut path. A further stepof the method can include grasping and pulling the wing of the poultryitem and pulling the breast meat off a frame of the poultry item, wherethe cutting path depth is sufficient to sever the shoulder joint. Theapparatus includes an ultrasonic knife assembly and frame 106.

Referring to FIGS. 3A through 3D, an illustration of the ultrasonicknife is shown mounted to a robotic arm within an overall assemblyframe. The overall assembly frame shows an implementation that includesa vision system including two three dimensional scanners/cameras 108 and109. FIGS. 3A through 3D further illustrate a robotic arm 204 and anultrasonic knife assembly 206 and 208. The robotic arm 204 is mounted toa frame assembly and the robotic arm 204 includes a main rotation hub302 that provides rotation about a substantially vertical axis 330 ofthe arm portion extending beyond the rotation hub. The direction or pathof rotation lies in a substantially horizontally oriented plane. Therobotic arm has a shoulder joint 304 that allows the portion of the armextending beyond the shoulder joint to pivot and rotate about axis 332.The direction or path of rotation lies in a substantially verticallyoriented plane. The robotic arm has an elbow joint 306 that allows theportion of the arm extending beyond the elbow joint to pivot and rotateabout axis 334. The direction or path of rotation lies in asubstantially vertically oriented plane. The direction or path ofrotation lies in a substantially vertically oriented plane. The roboticarm has a wrist joint 308 that allows the portion of the arm extendingbeyond the wrist joint to pivot and rotate about axis 336. The directionor path of rotation lies in a substantially vertically oriented plane.The rotation arm also has an end joint 310, which allows the end portionof the arm to rotate about the axis 338. The knife assembly 312 and 314illustrate an ultrasonic knife assembly. The meat item to be cut, for anexample a poultry item, is mounted on the mounting cone 320. Theplatform 324 for accommodating the item to be operated on can includeopposing outside wing spreaders 316 and 318. The blade is illustrated byitem 322.

An ultrasonic cutter vibrates its blade with amplitudes of 10-70 μm inthe longitudinal direction. The vibration is microscopic, so it cannotbe seen. The movement repeats 18,000-40,000 times per second (18-40kHz). An ultrasonic knife includes a “transducer” that generatesvibration and an “oscillator” that drives the transducer. Apiezoelectric element is used for the transducer. When voltage isapplied, the piezoelectric element displaces the transducer by a fewmicrometers. Periodically applying voltage generates vibration. Eachobject has its special frequency, by which the object is stable and easyto vibrate. By adding an external force that corresponds to that specialfrequency, a small force can obtain a large vibration. This phenomenonis called resonance. In an ultrasonic cutter, the piezoelectric elementgenerates a force that resonates the whole body, from the transducer tothe blade tip and/or cutting edge of the blade 322, generating a largevibration at the tip and/or cutting edge. The oscillator periodicallygenerates voltage to resonate and drive the transducer. Using acomponent of the ultrasonic cutter called the horn/Sonotrode to wringthe cross-sectional area, from the piezoelectric element to the bladetip, can obtain a larger vibration.

The vibration of the blade 322 makes the cutting faster because thevibration of the blade also slices the material being cut in addition tothe force that you're applying to the blade. If the vibrations are alongthe correct axis, as in said knife, then they'll do the exact same thingas a standard knife would do when pushed into a material for cutting,that is applying a force, meaning that the knife does most of the workin cutting because the vibration performs the same work as would beprovided by applying a force to a standard blade.

The ultra-sonic generator converts the power supply (100-250 Volts,50-60 Hz) into a 20 to 30 kHz, 800-1000 Volts electrical signal. Thissignal is applied to piezo-electrical ceramics (included in theconverter) that will convert this signal into mechanical oscillations.These oscillations will be amplified by the booster and converter. Theconverter converts electricity into high frequency mechanical vibration.The active elements are usually piezo-electrics ceramics. The booster(optional) serves as an amplitude transformer.

The actuator vibrates at an extremely high frequency, making itultrasonic, and it is these waves of vibration that are transmitted bythe horn of the actuator all the way to the blade itself. The vibrationsare created at the actuator and are transferred by the horn to a freemass. The free mass vibrates between the blade and the horn of theactuator to transmit the vibrations down the blade. The repetitiveimpact on the blade by the free mass, creates stress pulses thattransmit to the tip/blade edge of the blade and into the item being cut.Ultimately, the repetitive cutting of the blade produces enough strainon the surface of the item being cut to fracture it. The effect ofultrasonic cutting parameters, such as resonant frequency, mode ofvibration, blade tip sharpness, cutting force, cutting speed, and bladetip/blade edge amplitude are all factors.

Ultrasonic food cutting technology goes beyond the limits ofconventional cutting systems by utilizing a vibrating blade as opposedto a static blade. The vibrations create an almost frictionless cuttingsurface, providing neater cuts, faster processing, minimal waste, longerblade life and less downtime. The induced oscillation at the cuttingedge of the sonotrode with defined vibration amplitude results in fasterand more efficient cutting due to less mechanical cutting force neededin comparison to other conventional blade methods or laser cuttersand/or water jet cutters. The pressure on the item to be cut can bereduced due to the high number of frequencies per second. This creates aclean cut face. Ultrasound application for cutting enhances the cutsurface quality, lowers the energy for cutting and improves the cutexactness. The induced oscillation at the cutting edge of the sonotrodewith defined vibration amplitude results in faster and more efficientcutting due to less mechanical cutting force needed in comparison toother conventional methods such as laser cutters and water jet cutters.In fact, the vibration reduces the friction resistance at the cuttingsurface.

Referring to FIGS. 4A through 4M, an illustration of one implementationfor the debone track mount assembly 400 is provided. The debone trackmount assembly includes a debone mount jig 402 for holding the itembeing operated on. For one implementation a whole carcass poultry itemis mounted on the debone mount jig 402 by inserting the mount 402through the cavity opening on a bottom front half of a whole carcasspoultry item, whereby the debone mount penetrates into the poultrycarcass item and stabilizes the position of the poultry item for thedeboning operation. For one implementation of the debone mount jig 402,the mount is cone shaped where the top portion or apex of the conehaving a smaller diameter is oriented vertically above the bottomportion having a larger diameter with respect to the top portion. Theangle of the conical shape of the mount widens from the top to thebottom where the slope or rate of increase in diameter of the conicalshaped from top to bottom allows the top of the mount to be insertedinto the thoracic inlet while at the same time the slope of the mount issufficient to spread the clavicle and position the shoulder joint in asufficiently stable and constant position to stabilize and ready thepoultry item for the cutting process.

The wings of the poultry carcass are extended to straddle over wingsupports 404 and 406. The pit of the wings are supported by the topupward facing surface 412 of the wing supports. The top upward facingsurface as illustrated by item 412 of the wing supports 404 and 406, hasa downward extending angle with respect to horizontal, thereby urgingthe pit of the wings to rest and be captured in a corner, illustrated byitem numbers 408 and 410 formed by the upward facing surface an and amember, as illustrated by item 414 extending orthogonally with respectto the upward facing surface. The urging of the wing pit to the corners410 and 408 further stabilizes the poultry item for further operation.The wing supports 404 and 406 are spaced away from debone mount 402 withspacer 450 and 452 in order to extend the wings.

For one implementation of the apparatus, the debone mount jig 402 ismounted on a stand 420 and the wing supports 404 and 406 are alsomounted to the stand 420 using stand-off mounts 450 and 452, whichprovides a spacing between wing supports and the stand 420. The stand ismounted on a carriage 422, where the carriage 422 is configured totraverse the debone track mount along a track to further position thepoultry item during the deboning process. For one implementation of thedebone track mount, the track mount tracks along a substantiallyhorizontally extended track 414. The debone mount has extendingtherefrom a track wheel 418, which tracks along the guide track 414 in atrack groove 416. For one implementation, the carriage 422, includesfour wheels to support the carriage and facilitate the carriagetraversing with the stand 420 along a track as illustrated by 414. Twoof the wheels are grooved wheels, 426 and 454, where the grooved wheels426 and 454 include a groove between the outside flanges of the wheelsand the groove extends around its circumference, where thecircumferential groove is configured for receiving a monorail track 427.The interface between the circumferential groove of the grooved wheelsand the monorail is configured to resist side-to-side lateral movementof the carriage. The opposing side wheels of the carriage 424, asillustrated by items 424 and 425, ride along traversing on top of a sideledge 403.

The overall carriage 427, with stand 420 and debone mount jig 402mounted thereon, is urged to travers back and forth along the track 414such that the operation performed on the item mounted thereon isfacilitated. The carriage is urged to traverse using a magneticinterface. The magnetic interface is between a series of items 442 beingconveyed back and forth with an endless chain conveyor and at least aportion of the underside of the carriage. For one implementation, atleast a portion of the underside of the carriage is constructed of amagnet. The series of items 442 are constructed of a ferrous materialthat is attracted to a magnet such that when the dual side by sideendless chain conveyors convey items 442 back and forth, the magneticinterface causes the carriage, the stand and the debone mount and trackwheel 418 to traverse back and forth along the track 414. Axles 430 and432 for the conveyor can be powered to cause conveyance of items 442.For one implementation, the endless conveyance system is housed in ahousing 428, where the housing is constructed of a material such thatthe magnetic interface is not interrupted. For several of the views, thehousing is removed or hidden for clarity. Housing eyelets 467, 468 and466 can be utilized for mounting the housing frame. For oneimplementation, at least a portion of the underside of the carriage isconstructed of a ferrous material. The series of items 442 areconstructed of magnets that attract items made of ferrous materials suchthat when the dual side by side endless chain conveyors convey items 442back and forth, the magnetic interface causes the carriage, the standand the debone mount and track wheel 418 to traverse back and forthalong the track 414.

The conveyance system includes at least one endless chain conveyor fortranslating items 442. The implementation shown in the figures includeddual side-by-side endless chain conveyors for translating items 442. Theconveyance system, for one implementation, includes and internal hubassemblies 434 and 459 having dual spaced apart gear pairs 436, 437 and456, 458 respectively. The teeth of the gears engage with dual endlessspaced apart chain conveyors 438 and 439. A return portion of theendless conveyor chains are removed/hidden for illustration purposes sothat the gears 436,437 and 456,458 and their teeth are illustrated. FIG.4E illustrates endless chain 438 having an upper run 445 and a lower run444. Endless chain conveyor 439, also includes an upper run 462 and alower run 460. The magnetic interface item 442 is illustrated traversingon the upper run and the magnetic interface item 440 is illustratedtraversing on the bottom run. For one implementation chain track guides446 and 448 are utilized to assist with conveyor chain alignment andconfigure to resist chain disengagement. The top portion 441 of theseries of items for one implementation is constructed of a magnet,however for another implementation, the top portion of the series ofitems is constructed of a ferrous material. For one implementation, atleast a portion of the underside 443 of the carriage is constructed of aferrous material. For yet another implementation, at least a portion ofthe underside 443 of the carriage is constructed of a magnet. FIG. 4Mprovide an exploded view illustration of the various components.

One implementation of the technology as disclosed and claimed hereinincludes controlling with a computing system an automated robotic arm204 having an ultrasonic knife implement 206 to cause a blade 208 of theultrasonic knife implement to traverse along the cut path of the meatitem. One specific example of using this methodology is where the meatitem is a poultry item and the cut path is a shoulder cut path. Onefunction of the technology is to perform the severing of the tendonsaround the shoulder joint with the ultrasonic knife as the ultrasonicknife travels along the cut path. A further step of the method caninclude grasping and pulling the wing of the poultry item and pullingthe breast meat off a frame of the poultry item, where the cutting pathdepth is sufficient to sever the shoulder joint. The apparatus includesan ultrasonic knife assembly and frame 106.

For one implementation the item to be operated on is mounted on debonemount jig 402 for holding the item being operated on. For oneimplementation of the technology, the debone track mount assembly iscontrolled by a computing system to control the linear position of thedebone track mount assembly along the path 419 of track 414. For oneimplementation, a computing system controls a servo motor or other powermeans to effect rotation of one or both of axles 430 and 432. The axlerotation will effect rotation of the hub assemblies 434 and 459, whichwill effect rotation of the gears 436, 437, 456 and 458 thereby causingthe conveyance chains to traverse magnetic interface items 442 and 440.Traversing the magnetic interface items will effect linearly traversingthe debone track mount assembly along the path of the track. Traversingthe track mount repositions the item being operated on. By way ofillustration, a poultry item is repositioned in coordination with thecut path of the ultrasonic knife in order to facilitate the cuttingoperation and make the cutting operation more efficient.

Referring to FIG. 4N, an illustration of one implementation for thedebone track mount 472 with the cone and carriage rotated is provided.Similar to the implementation illustrated in FIG. 4A, the debone trackmount assembly illustrated in FIG. 4N, includes a debone mount jig cone474 for holding the item being operated on. For one implementation awhole carcass poultry item is mounted on the debone mount jig 474 byinserting the mount 474 through the cavity opening between the legs andtail area of a whole carcass poultry item, whereby the debone mountpenetrates into the poultry carcass item and stabilizes the position ofthe poultry item for the deboning operation. The wider the width of thecone, the more the clavicle bones are pushed outward to thereby causethe wings of a poultry item to extend outward consistently to an optimalposition for the cut path. The wings of the poultry carcass are extendedto straddle over wing supports 476 and 478. The pit of the wings aresupported by the top upward facing surface of the wing supports. The topupward facing surface, has a downward extending angle with respect tohorizontal, thereby urging the pit of the wings to rest and be capturedin a corner, formed by the upward facing surface an and a member,extending orthogonally with respect to the upward facing surface. Theurging of the wing pit to the corners further stabilizes the poultryitem for further operation. The wing supports 476 and 478 are spacedaway from debone mount 474 with spacers in order to extend the wings.For the implementation illustrated in FIG. 4N, the cone 474 and the wingsupports 476 and 478 are rotated 180 degrees about its vertical axiswith respect to the orientation illustrated in FIG. 4A.

For one implementation of the apparatus, the debone mount jig 474 ismounted on a stand and the wing supports are also mounted to the standusing stand-off, which provides a spacing between wing supports and thestand. The stand is mounted on a carriage 486, where the carriage 486 isconfigured to traverse the debone track mount along a track to furtherposition the poultry item during the deboning process. For oneimplementation of the debone track mount, the track mount tracks along asubstantially horizontally extended track. The debone mount hasextending therefrom a track wheel 482, which tracks along the guidetrack 480 in a track groove. In this implementation in FIG. 4N, thetrack wheel 482 extends from an opposing side of the cone mount ascompared to the implementation illustrated in FIG. 4A. For oneimplementation, the carriage includes four wheels to support thecarriage and facilitate the carriage traversing with the stand along atrack. Two of the wheels are grooved wheels, where the grooved wheelsinclude a groove between the outside flanges of the wheels and thegroove extends around its circumference, where the circumferentialgroove is configured for receiving a monorail track. The interfacebetween the circumferential groove of the grooved wheels and themonorail is configured to resist side-to-side lateral movement of thecarriage. The opposing side wheels of the carriage, ride alongtraversing on top of a side ledge.

The overall carriage, with stand and debone mount jig mounted thereon,is urged to travers back and forth along the track such that theoperation performed on the item mounted thereon is facilitated. Thecarriage is urged to traverse using a magnetic interface. The magneticinterface is between a series of items being conveyed back and forthwith an endless chain conveyor and at least a portion of the undersideof the carriage. For one implementation, at least a portion of theunderside of the carriage is constructed of a magnet. The series ofitems are constructed of a ferrous material that is attracted to amagnet such that when the dual side by side endless chain conveyorsconvey items back and forth, the magnetic interface causes the carriage,the stand and the debone mount and track wheel to traverse back andforth along the track. Axles for the conveyor can be powered to causeconveyance. For one implementation, the endless conveyance system ishoused in a housing, where the housing is constructed of a material suchthat the magnetic interface is not interrupted. For several of theviews, the housing is removed or hidden for clarity. For oneimplementation, at least a portion of the underside of the carriage isconstructed of a ferrous material. The series of items are constructedof magnets that attract items made of ferrous materials such that whenthe dual side by side endless chain conveyors convey items back andforth, the magnetic interface causes the carriage, the stand and thedebone mount and track wheel to traverse back and forth along the track480, which is supported by bracket members 484. Also, for oneimplementation as illustrated in FIG. 4N, a mechanism for engaging ahook member 488 is actuated by a controller to urge and move the hookvertically down to thereby engage the hook to hook and grasp the mountedpoultry item when the poultry item is mounted on the cone 474. Theengagement of the hook pulls the item downward onto the cone such thatthe item is firmly seated on the cone. As the track wheel traversesalong the track 480, the travel of the track wheel controls the hookmember 488 to engage and disengage as a carriage travels to a cuttingstation position and travels away from a cutting station position afterthe cutting process has been performed.

Referring to FIGS. 4O through 4S, an illustration of one implementationof a debone mount jig 405 for holding the item being operated on. Forone implementation a whole carcass poultry item is mounted on the debonemount jig 405 by inserting the mount 405 through the cavity opening on abottom front half of a whole carcass poultry item, whereby the debonemount penetrates into the poultry carcass item and stabilizes theposition of the poultry item for the deboning operation. For oneimplementation of the debone mount jig 405, the jig or mount 405 is coneshaped where the top portion or apex of the cone having a smallerdiameter is oriented vertically above the bottom portion having a largerdiameter with respect to the top portion. The angle of the conical shapeof the mount widens from the top to the bottom where the slope or rateof increase in diameter of the conical shaped from top to bottom allowsthe top of the mount to be inserted into the thoracic inlet while at thesame time the slope of the mount is sufficient to spread the clavicleand position the shoulder joint in a sufficiently stable and constantposition to stabilize and ready the poultry item for the cuttingprocess.

The wings of the poultry carcass are extended to straddle over wingsupports 407 and 409. The pit of the wings is supported by the topupward facing surface 415 and 417 of the wing supports 413 and 411. Thetop upward facing surface as illustrated by item 415 and 417 of the wingsupports 409 and 407, has a downward extending slope toward the rear ofthe mount or an angle with respect to horizontal, thereby urging the pitof the wings to rest and be captured in a corner, illustrated by itemnumbers 499 and 417 formed by the upward facing surface an and a member,as illustrated by items 453 and 451 extending orthogonally with respectto the upward facing surfaces 415 and 417. The urging of the wing pit tothe corners 499 and 417 further stabilizes the poultry item for furtheroperation. The wing supports 409 and 407 are spaced away from debonemount 401 with arm extensions extending from the support stand 421 inorder to extend the wings outward.

For one implementation of the apparatus, the debone jig mount 405 ismounted on a stand 421 and the wing supports 409 and 407 are alsomounted to the stand 421 using stand-off arm extensions 2 and 4extending from the support stand 421, which provides a spacing betweenwing supports and the stand 421. The extension arms extend laterally andvertically from the stand and curve toward the rear of the carriage,thereby, extending to connect to a horizontally extending wing support,which is orthogonal with respect to the stand-off arm extensions. Thestand is mounted on a carriage 423, where the carriage 423 is configuredto traverse the debone track mount along a track to further position thepoultry item during the deboning process. For one implementation of thedebone track mount, the track mount tracks along a substantiallyhorizontally extended track. The debone mount has extending therefrom atrack wheel 418, which tracks along the guide track in a track groove.For one implementation, the carriage 423, includes four wheels, 421,429, 431, 435 and 433 to support the carriage and facilitate thecarriage traversing with the stand 421 along a track. For oneimplementation the wheels include an outer flange (an external ridge orrim) extending from the smooth tread of the wheel. When the carriage istraversing along a track, the flanges of the opposing wheels will bepositioned along exterior opposing outer edges of the track, which willresist lateral movement as it traverses along the track. For oneimplementation, one or more of the wheels are grooved wheels, where thegrooved wheels include a groove between the outside flanges of thewheels and extends around its circumference, where the circumferentialgroove is configured for receiving a monorail track. The interfacebetween the circumferential groove of the grooved wheels and themonorail is configured to also resist side-to-side lateral movement ofthe carriage.

The overall carriage assembly 401, with stand 421 and debone mount jigmount 405 mounted thereon, is urged to travers back and forth along atrack such that the operation performed on the item mounted thereon isfacilitated. The carriage is urged to traverse using a magneticinterface. The magnetic interface is between a series of items that aremade of ferrous material or are magnetic, being conveyed back and forthwith an endless chain conveyor and at least a portion of the undersideof the carriage is magnetic or made of ferrous material. For oneimplementation, at least a portion of the underside of the carriage isconstructed of a magnet. The series of items are constructed of aferrous material that is attracted to a magnet such that when the dualside by side endless chain conveyors convey items back and forth, themagnetic interface causes the carriage, the stand and the debone mountand track wheel to traverse back and forth along the track. For oneimplementation, the endless conveyance system is housed in a housing,where the housing is constructed of a material such that the magneticinterface between the underside of the carriage and track items are notinterrupted. For one implementation, at least a portion of the undersideof the carriage is constructed of a ferrous material. For thisimplementation, the series of transport items are constructed of magnetsthat attract items made of ferrous materials such that when the dualside by side endless chain conveyors convey transport items back andforth, the magnetic interface causes the carriage, the stand and thedebone mount to traverse back and forth along the track 414.

For one implementation, the apex portion of the cone-shaped jig mountincludes a slot 449 extending from a top area vertically down into thebody of the apex portion of the mount. For one implementation, amechanical hook member 447 is mechanically configured to be controlledto traverse vertically up and down along the slot from an upperretracted position at the top of the slot, to a lower engaged positionat the bottom of the slot, which is the position as illustrated in FIG.4P. When the hook member 447 is engaged to traverse to the engageposition, the hook hooks the interior of the item pull for example apoultry item onto the mount and further secure the poultry item on themount when executing a cut. For one implementation, at least a portionof the underside of the carriage is constructed of a ferrous material.For yet another implementation, at least a portion of the underside ofthe carriage is constructed of a magnet.

FIG. 4R illustrates one implementation of a carriage assembly 455, wherethe pit of the wings are supported by the top upward facing surface 471and 473 of the wing supports. The top upward facing surface asillustrated by item 471 and 473 of the wing supports 457 and 461, has adownward extending slope toward the rear of the mount or an angle withrespect to horizontal, thereby urging the pit of the wings to rest andbe captured in a corner, illustrated by item numbers 477 and 475 formedby the upward facing surface an and a member, as illustrated by items 10and 8 extending orthogonally with respect to the upward facing surfaces471 and 473, and said wing captured between items 10 and 489; and items8 and 491. For this implementation, the upward facing surfaces 471 and473 include a plurality of raised ribs that will resist movement duringthe cutting operation of the wing of a poultry item mounted on the jigmount. The urging of the wing pit to the corners 477 and 475 furtherstabilizes the poultry item for further operation. The wing supports 457and 461 are spaced away from debone mount 463 with arm extensionsextending from the support stand 465 in order to extend the wingsoutward.

For one implementation of the apparatus, the debone jig mount 463 ismounted on a stand 465 and the wing supports 457 and 461 are alsomounted to the stand 465 using stand-off arm extensions and extendingfrom the support stand 465, which provides a spacing between wingsupports and the stand. The extension arms extend laterally andvertically from the stand and curve toward the rear of the carriage,thereby, extending to connect to a horizontally extending wing support,which is orthogonal with respect to the stand-off arm extensions. Thestand is mounted on a carriage 469, where the carriage 469 is configuredto traverse the debone track mount along a track to further position thepoultry item during the deboning process.

For one implementation of the debone track mount, the track mount tracksalong a substantially horizontally extended track. The debone mount hasextending therefrom a track wheel 497, which tracks along the guidetrack in a track groove. For one implementation, the carriage 469,includes four wheels, 481, 483, 485 and 495 to support the carriage andfacilitate the carriage traversing with the stand 465 along a track. Forone implementation the wheels include an outer flange (an external ridgeor rim) extending from the smooth tread of the wheel. When the carriageis traversing along a track, the flanges of the opposing wheels will bepositioned along exterior opposing outer edges of the track, which willresist lateral movement as it traverses along the track. For oneimplementation, one or more of the wheels are grooved wheels, where thegrooved wheels include a groove between the outside flanges of thewheels and extends around its circumference, where the circumferentialgroove is configured for receiving a monorail track. See FIG. 4R, wheels481 and 483, which are an illustration of wheels having grooves. Theinterface between the circumferential groove of the grooved wheels andthe monorail is configured to also resist side-to-side lateral movementof the carriage.

For one implementation of the debone track mount, the track mount tracksalong a substantially horizontally extended track. For oneimplementation the wheels include an outer flange (an external ridge orrim) extending from the smooth tread of the wheel. When the carriage istraversing along a track, the flanges of the opposing wheels will bepositioned along exterior opposing outer edges of the track, which willresist lateral movement as it traverses along the track. For oneimplementation, one or more of the wheels are grooved wheels, where thegrooved wheels include a groove between the outside flanges of thewheels and extends around its circumference, where the circumferentialgroove is configured for receiving a monorail track. See wheels 481 and483. The interface between the circumferential groove of the groovedwheels and the monorail is configured to also resist side-to-sidelateral movement of the carriage.

For one implementation, the apex portion of the cone-shaped jig mountincludes a slot 479 extending from a top area vertically down into thebody 493 of the apex portion of the mount. For one implementation, amechanical hook member 487 is mechanically configured to be controlledto traverse vertically up and down along the slot 479 from an upperretracted position at the top of the slot, to a lower engaged positionat the bottom of the slot, which is the position as illustrated in FIG.4R. When the hook member 487 is engaged to traverse to the engageposition, the hook hooks the interior of the item pull for example apoultry item onto the mount and further secure the poultry item on themount when executing a cut. For one implementation, at least a portionof the underside of the carriage is constructed of a ferrous material.For yet another implementation, at least a portion of the underside ofthe carriage is constructed of a magnet.

Referring to FIGS. 5A through 5D, an illustration of a track conveyanceand breast removal system is provided. A similar cone mount and carriagesystem 504, as illustrated in FIG. 4 , is used on the track conveyor andbreast removal system 500. The conveyance system 500 has an entry end502 and an exit end 506. For one implementation of the system, proximatethe exit end 506, there is a breast removal station 508, where thebreast meat portion of a poultry item is pulled away from the carcasswhere the line of separation of the breast meat from the carcass isalong cut lines created by the ultrasonic knife that cut the poultryitem along the cut path performed by the automated robotic arm having anultrasonic knife implement to cause a blade of the ultrasonic knifeimplement to traverse along the determined cut path of the meat item. Atthe entry end, there are a plurality of the cone mounts, on whichpoultry items are mounted and where the mounts include an undercarriagewith wheels for receiving items onto the conveyance system. The conemounts are mounted on a carriage or undercarriage that traverses alongsimilar to the cone and carriage combination of the debone track mountsystem illustrated in FIGS. 4A through 4N. The carriage and cone mount510 traverses along an endless cable system 516, where, for oneimplementation, the endless cable system contains a ferrous material forpulling the carriage along the track 512. The endless track systemincludes a top run 510 and a return run 514. FIG. 5C illustrates thecone 504 and carriage 518 system engaging the endless cable system 516.

Referring to FIGS. 5E through 5L an illustration of a breast removalstation 520 along the track conveyance system is provided. The breastremoval station includes a breast removal system 540 and a controllersystem 536, which controls a robotic arm 522, which positions thegrasping talon implements 524 and 526, which grasp the poultry item 528along the wing bone and pulls the breast portion away from the carcassalong cut lines created by the ultrasonic knife that cut the poultryitem along the cut path performed by the automated robotic arm having anultrasonic knife implement. Prior pulling the breast portion away fromthe carcass, a stabilizing system 534 captures the carcass behind theshoulder joint on either side of the cervical vertebrae with stabilizerarms 530 and 532. The stabilizing system 534 includes actuators thatactuate the stabilizer arms 530 and 532 to extend clamps 531 and 533respectively to hook and hold the carcass by engaging the carcass behindthe shoulder joint on either side of the cervical vertebrae in the areaillustrated by item 535.

The stabilizer arms 530 and 532 are controlled and actuated by acontroller to lower down to the carcass to extend the stabilize clampingmember 531 and 533 to engage and grasp the coracoid bone, SEE FIG. 5H,which is the main bone structure that extends from the shoulder to thetop of the sternum and the stabilizer clamps 531 and 533 grasp the leftand right coracoid bone structures. The coracoid is a stout strong bonethat connects the cranial edge of the sternum to the shoulder jointcomplex. It opposes the powerful contraction of the major pectoralmuscle during the down-stroke of the wing. The two clamps 531 and 533extend into and through an incision in the breast meat made by a knifeimplement controlled to make the incision during the cutting process andthe clamps are controlled by a controller and actuated grab the left andright coracoid bone structures. As shown, the clamps are configured witha bend such that the clamps can extend around the outside of thecoracoid bone structure, between the coracoid bone structure and thescapula, and clamp inward. However, for one implementation the clampscan be configured with a bend opposite that shown in the figure suchthat the clamp can extend with an inside path between the pulley bonesand the opposing side of the coracoid bone structure, and then clampoutward to grasp the coracoid bone structure. The pulley bones are theleft and right clavicle bones that extend adjacent the left and rightcoracoid bones respectively. Grasping the coracoid bone structureassists in anchoring the carcass when pulling away the breast portion sothat the breast portion can be pulled away cleanly.

The grasping talon implements 524 and 526 are lowered to grasp thepoultry item in the wing area illustrated by item 536 by controlling therobotic arm with the controller to position the talon implements, andthe controller actuates the clamping members 525 and 527 to pivot andpinch the wings between the talon implements and the clamping members.The robotic arm then traverses the talons away from the carcass in adirection as illustrated by arrow 537 to thereby pull the breast meatfrom the carcass. This pulling action separates the meat from thecarcass frame. The wing portions can then be separated from the breastportions.

Another implementation of a stabilizer system is illustrated in FIGS. 5Ithrough 5L, where the clamps are configured with a bend opposite thatshown in FIGS. 5E through 5G such that the clamps can extend with aninside path between the pulley bones from the opposing side of thecoracoid bone structure, and then clamp outward to grasp the coracoidbone structure. Grasping the coracoid bone structure assists inanchoring the carcass when pulling away the breast portion so that thebreast portion can be pulled away cleanly. Prior pulling the breastportion away from the carcass, a stabilizing system 542 captures thecarcass behind the shoulder joint on either side of the cervicalvertebrae with stabilizer arms 556 and 558. The stabilizing system 542includes actuators that actuate the stabilizer arms 558 and 556 torotate outwardly counter-clockwise and clockwise respectively to rotateand extend clamps 560 and 562 respectively to hook and hold the carcassby engaging the carcass behind the shoulder joint on either side of thecervical vertebrae.

The stabilizer arms 558 and 556 are controlled and actuated by acontroller to lower down to the carcass to extend the stabilize clampingmembers 560 and 562 to engage and grasp the coracoid bone, SEE FIG. 5H,which is the main bone structure that extends from the shoulder to thetop of the sternum and the stabilizer clamps 531 and 533 grasp the leftand right coracoid bone structures. The coracoid is a stout strong bonethat connects the cranial edge of the sternum to the shoulder jointcomplex. It opposes the powerful contraction of the major pectoralmuscle during the down-stroke of the wing. The two clamps 560 and 562extend into and through an incision in the breast meat made by a knifeimplement controlled to make the incision during the cutting process andthe clamps are controlled by a controller and actuated grab the left andright coracoid bone structures.

As shown, the clamps are configured with a bend such that the clamps canextend with an inside path between the pulley bones from the opposingside of the coracoid bone structure, and then clamp outward to grasp thecoracoid bone structure. Grasping the coracoid bone structure assists inanchoring the carcass when pulling away the breast portion so that thebreast portion can be pulled away cleanly. The stabilizer assembly 542,includes a stabilizer arm assembly 546 and a base assembly 544. Thestabilizer arm assembly 546 and the base assembly 544 are pivotallyconnected by a hinge 548 such that the stabilizer arm assembly pivotswith respect to the base assembly about the hinge in order to lower thestabilizer arms to a position to engage the product. The stabilizer armassembly is shown in the stowed position in FIGS. 5I and 5J. An actuator550 is controllably actuated by a controller to cause the stabilizer armassembly to pivot downward for engagement with a product. When loweredto the engagement position, the stabilizer arms 558 and 556 are actuatedby an actuator 565 to rotate about bearings 554 and 552 respectivelysuch that the stabilizer arms 558 and 556 to rotate outwardlycounter-clockwise and clockwise respectively to rotate and extend clamps560 and 562 respectively to hook and hold the carcass by engaging thecarcass behind the shoulder joint on either side of the cervicalvertebrae. The actuator 565 is mounted to the stabilizing arm assembly546 with an actuator bracket 564.

The grasping talon implements are lowered to grasp the poultry item inthe wing area by controlling the robotic arm with the controller toposition the talon implements, and the controller actuates the clampingmembers to pivot and pinch the wings between the talon implements andthe clamping members. The robotic arm then traverses the talons awayfrom the carcass to thereby pull the breast meat from the carcass. Thispulling action separates the meat from the carcass frame. The wingportions can then be separated from the breast portions.

FIGS. 5K and 5L is another illustration of an implementation of astabilizer assembly 568, with the stabilizer arm assembly rotateddownward to the engage position. The stabilizer arm assembly 572 ispivoted downward about hinge 574 with respect to a base assembly 570 asillustrated by rotation indication arrows 577 and 573. The stabilizerassembly 572 is rotated downward such that the stabilizer arms 578 and580 are positioned to engage a product item mounted on a carriageassembly 569. Once in the engage position, the stabilizer arms 578 and580 are actuated to rotate clockwise and counter-clockwise respectivelyas illustrated by rotation arrows 585 and 583. Once the operation iscomplete, the stabilizer arm assembly is rotated back to a stowedposition as illustrated by rotation arrows 576 and 575. When lowered tothe engagement position, the stabilizer arms 578 and 580 are actuated byan actuator to rotate about bearings such that the stabilizer arms 578and 580 to rotate outwardly counter-clockwise and clockwise respectivelyto rotate and extend clamps 582 and 584 respectively, as indicated byarrows 585 and 583 to hook and hold the carcass by engaging the carcassbehind the shoulder joint on either side of the cervical vertebraethereby moving the clamp mechanism into the crop cavity and the clampthen extends outward to secure the coracoid bone.

Referring to FIGS. 6A through 6I, a combination linear and magneticcarriage track conveyor system 602 is illustrated. For oneimplementation of the conveyor system 602 mounted on a rack 604, asillustrated, includes a combination of a precision linear track conveyor620 and various magnetic based track conveyors configured to convey acarriage apparatus 610 along a path of conveyance extending adjacent aplurality of debone stations. The carriage apparatus 610, for oneimplementation includes a carriage base 614 with wheels and a poultrycone mount 612. The carriage base and wheels are configured to beconveyed by a linear track conveyor 620. One implementation of thecarriage base includes a magnet array for engaging ferrous material inthe various magnetic based track conveyors of the conveyor system 602.

For one implementation, the magnet array is disposed on the bottom sideof the carriage base 614 that is attracted due to magnetic forces to theconveyor belt of one or more of the various magnetic based trackconveyors where the belt that runs on this pulley system and containsferrous material to thereby result in magnetic attraction forces betweenthe magnet array and the belt. For one implementation the belt has anembedded steel cabling or other ferrous material cabling that thenattracts to magnet array disposed on the bottom of the carrier as causedby the magnetic attraction force of the magnets. A carriage transfersfrom the linear motor track conveyor 620 extending along the top run ofconveyor system, which extends adjacent the cutting stations, over tothe magnetic based belt containing ferrous material extending along thebottom run of the conveyor system and then back to the linear motortrack conveyor.

There is an entry end magnetic based transfer conveyor 608 thattransfers a carriage apparatus back onto the linear track conveyor 620at a transition point 606 and an exit end magnetic based transferconveyor 618 that receives a carriage apparatus being transferred offthe linear track conveyor. Any poultry item mounted on a cone mount ofthe carriage apparatus downstream of the debone stations is discharge toa discharge conveyor 616 as the carriage apparatus traverses around theexit end transfer conveyor 618 from the top run of the conveyor to thebottom return run of the conveyor. For one implementation a carriageapparatus 610 having a poultry item mounted thereon is carried on thetop run along a path of conveyance as illustrated by directional arrow601, where the path of conveyance extends adjacent the cutting stations.For one implementation a carriage is returned to the entry end on thelower run of the conveyor, where the lower run extends along a reversepath of conveyance as illustrated by directional arrow 603.

For one implementation, the transfer between the linear track conveyorand the magnetic based conveyor occurs proximate the end of the top runof the conveyor, where the magnetic attraction forces between the magnetarray of the carriage and the ferrous material in an exit end transferbelt, cause the exit end transfer belt to grab the carriage at atransition position 622, which carries a carriage 630 with belt 632around the exit end transfer end down to the bottom run 652 of theconveyor. For one implementation of the conveyor system, the exit endtransfer belt transitions the carriage to a first phase belt 627extending along a first portion of the lower run. Similarly, for thisimplementation, the magnetic attraction forces between the magnet arrayof the carriage and the ferrous material in a first phase belt, causethe first phase belt to grab the carriage at a transition position andcarry the carriage along a portion of the bottom return run back towardthe entry end.

For one implementation, the first phase belt transfers the carriage to asecond phase belt, where, again, the magnetic attraction forces betweenthe magnet array of the carriage and the ferrous material in a secondphase belt 627, cause the second phase belt to grab the carriage at atransition position 624 and carry the carriage further along a portionof the bottom return run 626 back to the entry end. For oneimplementation, the second phase belt transfers a carriage apparatus 646to an entry end transfer belt proximate position 650, where the magneticattraction forces between the magnet array of the carriage and theferrous material in an entry end transfer belt, cause the entry endtransfer belt to grab the carriage and carry the carriage around theentry end transfer entry run up to the top run of the conveyor proximateposition 606. For one implementation of the conveyor system, the entryend transfer belt 644 transitions the carriage 642 and mount 640 to thelinear motor track belt conveyor extending along the top run. The linearmotor track belt grabs the carriage and carries the carriage along thetop run. For one implementation of the conveyor system 602, the exit endtransfer belt conveyor 618 transfers a carriage 628 to the conveyorextending along the lower return run. As a carriage apparatus 654transitions to the lower run, any item mounted thereon is dischargedonto a discharge conveyor 616.

For the implementation illustrated, rather than having a top and bottomreturn run of an endless linear motor track belt be that of the moreexpensive linear track conveyor, where the speed and accuracy is notneeded, which is on the bottom return run, the return run portion isreplaced by a less expensive magnetic belt. When a carriage gets to theend of the linear conveyer, this magnetic based belt just picks up thatcarrier and takes it on to return it to the entry end to transfer itback to the linear conveyor. Where the system doesn't need the accuracyand the speed and the benefits of the linear motor conveyor and theassociated cost, as when the carriages traverse the cutting stations,the system uses the magnetic conveyor.

Also by transferring from a first phase to a second phase on the bottomrun the conveyor system can transfer from one section to another andhave a belt with the same length on each section thereby avoiding alonger run of one belt and these belt sections are configured to beinterchangeable, thereby allowing for one part on the shelf that's thesame between each conveyor section, therefore, sections can be added asneeded depending on the distance of the overall conveyor run. When thecarriage transfers back onto the linear track belt from the magneticbased belt, the linear track conveyor is functionally configured toadjust the position and speed of each carriage with respect to othercarriages being conveyed concurrently somewhere along the top run. ThePLC controlled linear motor conveyor is smart such that once it sees thecarriage, it just picks it up and gets the carriage into the queue,position and speed where it needs to be.

A carriage can stay in that same orientation relative to the othercarriers once it comes onto the magnetic conveyor belt portion of thesystem. The pitch does not have to change once it comes onto themagnetic based conveyor on either end of the conveyor system andextending along the bottom run. The linear motor conveyor in oneimplementation is PLC controlled to change pitch or distance betweencarriages, and the controller is configured to catch one carriage up tothe one immediately in front of it if needed to maintain the desiredpitch between the carriages or get it set at a certain rate of velocityas it's been defined in the controller as to what is needed to do andwhere on the conveyor. On the return run the conical mount and thecarriage can be cleaned and sanitized.

Referring to FIGS. 7A through 7I, a processing line 700 is illustrated.This particular processing line includes a poultry debone station 702configured to remove the breast portion of a poultry item from thecarcass. The processing line 700 includes an entry end 706 and an exitend 704. Each debone station 702 is configured with multiple roboticcutting arms and cutting implements. Carriage assemblies including a jigmount with a poultry item mounted thereon are conveyed along theprocessing line 700 to a debone station 702, were the debone operationis performed. FIG. 7B illustrates an entry end 706 of the processingline. The entry end of the processing line is where a poultry item ismounted onto a carriage assembly. A carriage assembly 722 is conveyedalong a return line of conveyance along a bottom return run. The lowerrun of the return conveyor 712 carries a carriage assembly 722 throughmultiple intermediate lower run conveyance sections 720 to a transferreturn conveyor 714, which transitions a carriage assembly 716 to aconveyor return tail pulley 718 and conveyor return belt 708, whichtransitions a carriage assembly back to the top run conveyor track 710.A carriage assembly 724 then has a poultry item mounted thereon and isconveyed along the top run toward a debone station.

Referring to FIG. 7D, the lower run return conveyor includes multiplelower run conveyance sections 712 and multiple intermediate pulleysections 720, whereby a carriage assembly 726 is conveyed over themultiple sections along the return run. FIG. 7E, illustrates an exit end704 of a process line including a debone station 702, which includesmultiple robotic arms 728 for performing a shoulder cut operation on apoultry item.

One implementation of the conveyor system, as illustrated, includes acombination of a precision linear track conveyor and various magneticbased track conveyors configured to convey a carriage assembly along apath of conveyance 760 extending adjacent a plurality of debone stations702. The debone stations include one or more robotic arms 728 with anultrasonic blade implement for performing a debone cut. For oneimplementation, the debone station 702 includes one or more sharpenerstations 756 for sharpening the blades of the ultrasonic bladeimplement. One implementation of a sharpener as shown is a pull-throughblade sharpener for beveled edged blades. The robotic arm is controlledto periodically position the beveled edge of the blade of the ultrasonicblade implement in the valley of the sharpener formed by the opposingsharpening surfaces. The blade is pulled through the valley to re-edgethe blade. The carriage, for one implementation includes a carriage basewith wheels and a poultry cone mount. The carriage base and wheels areconfigured to be conveyed by a linear track conveyor extending along thetop run. One implementation of the carriage base includes a magnet arrayfor engaging ferrous material in the various magnetic based trackconveyors of the conveyor system.

For one implementation, the magnet array is disposed on the bottom sideof the carriage base that is attracted due to magnetic forces to theconveyor belt of one or more of the various magnetic based trackconveyors where the belt that runs on this pulley system and where thebelt contains ferrous material to thereby result in magnetic attractionforces between the magnet array and the belt. For one implementation thebelt has an embedded steel cabling or other ferrous material cablingthat then attracts to magnet array disposed on the bottom of the carrieras caused by the magnetic attraction force of the magnets. A carriagetransfers from the linear motor track conveyor extending along the toprun of conveyor system, which extends adjacent the cutting stations,over to a 180 degree turn belt, over to the magnetic based beltcontaining ferrous material extending along the bottom run of theconveyor system and then back to the linear motor track conveyor by wayof another 180 degree turn belt.

For the implementation illustrated, rather than having a top and bottomreturn run of an endless linear motor track belt be that of the moreexpensive linear track conveyor, where the speed and accuracy is notneeded on the bottom return run, the return run portion is replaced by aless expensive magnetic belt. When a carriage gets to the end of thelinear conveyer, this magnetic based belt extending along the bottomreturn run just picks up that carrier and takes it on to return it tothe entry end to transfer it back to the linear conveyor. The carriersare transferred to and from the bottom return run by exit end and entryend 180 degree turn belts. Where the system doesn't need the accuracyand the speed and the benefits of the linear motor conveyor and theassociated cost, as when the carriages traverse the cutting stations,the system uses the simple and less expensive magnetic conveyor beltsystem along the bottom return run.

Also by transferring from a first phase to a second phase on the bottomrun the conveyor system can transfer from one section to another andhave a belt with the same length on each section thereby avoiding alonger run of one belt and these belt sections are configured to beinterchangeable, thereby allowing for one part on the shelf that's thesame between each conveyor section, and therefore, sections can be addedor removed as needed depending on the distance of the overall conveyorrun. When the carriage transfers back onto the linear track beltextending along the top run from the simple magnetic based belt, thelinear track conveyor is functionally configured to adjust the positionand speed of each carriage with respect to other carriages beingconveyed concurrently somewhere along the top run. The PLC controlledlinear motor conveyor is smart such that once it sees the carriage, itjust picks it up and gets the carriage into the queue, position andspeed where it needs to be.

For one implementation the process line includes sensors spaced alongthe line of conveyance configured to detect the position of an itembeing conveyed along the process line. For example, sensors 752 and 754are positioned on either side of the top run of the conveyor. The sensortype is one or more of a photoelectric sensor, a laser sensor or otherappropriate sensor. The sensors provide position inputs to a controller,which uses the inputs to control the speed of conveyance and thedistance maintained between carriage assemblies as they are beingconveyed. The exit end 704 of the process line includes a conveyorreturn head pulley 738 and exit end belt 736 that is configured totransition a carriage from a top run to the bottom run 712. The processline includes one or more controller systems 730 configured to monitorand control the conveyance system and the debone station operation.

For one implementation, the cutting station 702 also includes a scoringblade 732. As illustrated, one implementation of a scoring bladeincludes a circular blade implement that is controllably positioned toscore a product with an incision to facilitate removal of a desiredportion of the item being operated on. As discussed herein, theimplementation as illustrated is configured to score a poultry itemmounted on a carriage assembly being conveyed, where the cut or incisionperformed by the circular blade is a cut that runs from the shoulderdown towards the keel of the pulley bone. For one implementation of theprocess line, control switches 734 are placed at various positions alongthe process line where an operator can push to actuate one or more pushbuttons to start and stop the conveyor, or advance or reverse theconveyor. When a button is actuated by an operator, a control signal istransmitted to the controller 730, which will interpret the signaltransmission and control the conveyor accordingly. FIG. 7F illustratesfurther detail of the exit end 704 of the process line, which includesthe conveyor return head pulley 738 and an exit end belt 742 that isconfigured to transition carriages, as illustrated by items 740 and 746,from a top run to a bottom run 712.

Also illustrated is an intermediate pulley system 744 configured with abelt system for transitioning a carriage assembly from the top run tothe conveyor return head pulley and exit belt, and further from the headpulley to the lower return run. For one implementation as illustrated,the return head pulley 738 and similarly the return tail pulley 718 areconfigured as a spool having opposing outer flanges 764 and 768, whereeach of the circumferential edges of the outer flanges include peaks 770and valleys 777 where the pitch or frequency of the peaks and valleysare such that the circumferential tread surface of the wheels of thecarriage assembly rest in the valleys of the outer flanges as thecarriage assembly make the 180 degree turn to and from the top run ofthe conveyor system.

Referring to FIG. 7H, the entry end 706 of the process line includes aconveyor return tail pulley 718 and entry end belt 707 that isconfigured to transition a carriage from a bottom run to the top run.712. The process line includes one or more controller systems 730configured to monitor and control the conveyance system and the debonestation operation. FIG. 7F illustrates further detail of the exit end704 of the process line, which includes the conveyor return head pulley738 and an exit end belt 742 that is configured to transition carriages,as illustrated by items 740 and 746, from a top run to a bottom run 712.Also illustrated is an intermediate pulley system 744 configured with abelt system for transitioning a carriage assembly from the top run tothe conveyor return head pulley and exit belt, and further from the headpulley to the lower return run. FIG. 7I further illustrates the debonestation 702 including the controller system 730 with interfacing displaymonitor 748.

Referring to FIGS. 8A through 8C, a further implementation of a deboneprocess line 800 is illustrated. As with other implementations disclosedherein, the implementation illustrated in FIG. 8 includes a debonecutting station 802, an entry end 806 and an exit end 804. The processline includes various conveyor components including an entry end 180degree turn conveyor 808, which transitions carriages from the bottomrun back to the top run of the conveyor system, and an exit end 180degree turn conveyor 809, which transitions carriages from the top runto the bottom run of the conveyor system. The entry end turn conveyor808 transitions carriages at a transition point 810 back to an initialentry end section 812 of the top run magnetic track conveyor. The exitend turn conveyor transitions carriages to the lower run conveyor belt.The magnetic track conveyor is controlled by a programmable controllerto adjust the position and conveyance speed of each carriage and adjustand maintain the distance or pitch between carriages. For theimplementation illustrated in FIGS. 8A through 8C, where accuracy is notneeded the carriages are transition at a transition point 814 to lessaccurate magnetic belt conveyors 816, which extend along sections of thetop run, between magnetic track conveyor sections 818 where moreaccuracy is needed as illustrated as carriages are conveyed along thepath of conveyance adjacent a debone cutting station 802. Along the toprun, carriages are transitioned at a transition point 830 from the lessaccurate magnetic belt 816 to the more accurate magnetic track conveyor818. For one implementation, the debone cutting station 802, includes ascoring blade 826. As illustrated, one implementation of a scoring bladeincludes a circular blade implement that is controllably positioned toscore a product with an incision to facilitate removal of a desiredportion of the item being operated on. As discussed herein, theimplementation as illustrated is configured to score a poultry itemmounted on a carriage assembly being conveyed, where the cut or incisionperformed by the circular blade is a cut that runs from the shoulderdown towards the keel of the pulley bone. FIG. 8C illustrates furtherdetail of the exit end 804 of the process line, which includes theconveyor return head pulley and an exit end belt that is configured totransition carriages from a top run to a bottom run. The bottom runincludes multiple less accurate magnetic conveyor belt sections 820 and824, where a carriage being conveyed along the bottom run transitionsfrom section 824 to section 820 at the transition point 822.

Also illustrated is a belt system for transitioning a carriage assemblyfrom the top run to the conveyor return head pulley and exit belt, andfurther from the head pulley to the lower return run. For oneimplementation as illustrated, the return head pulley and similarly thereturn tail pulley are configured as a spool having opposing outerflanges, where each of the circumferential edges of the outer flangesinclude peaks and valleys where the pitch or frequency of the peaks andvalleys are such that the circumferential tread surface of the wheels ofthe carriage assembly rest in the valleys of the outer flanges as thecarriage assembly make the 180 degree turn to and from the top run ofthe conveyor system.

The entry end 806 of the process line includes a conveyor return tailpulley and entry end belt that is configured to transition a carriagefrom a bottom run to the top run. The process line includes one or morecontroller systems configured to monitor and control the conveyancesystem and the debone station operation.

For one implementation of the technology as disclosed and claimedherein, an automated computer controlled method for performing a meatcut includes placing a meat item on a track mount assembly, said trackmount assembly mounted on an under carriage where said under carriage isconfigured to traverse along a path of a track and where a portion of anunderside of the undercarriage includes a magnetically coupled magneticinterface. One implementation includes controlling an endless conveyorto traverse magnetically coupled items attached to said endlessconveyor, where the magnetically coupled items are magnetically coupledto the magnetic interface of the underside of the under carriage,thereby causing the undercarriage, track mount assembly and the meatitem to traverse along the path of the track. For one implementation,the method further includes calculating a final cut path from aretrieved cut path corresponding to a selected point cloud templatebased on defined alignment adjustments. For yet another implementationthe method includes controlling and articulating a blade of anultrasonic knife along the calculated final cut path with multipledegrees of freedom while cutting a meat item, where articulating alongthe final cut path includes vibrating the blade at an ultrasonicfrequency. For one implementation, the method includes the method ofperforming meat cut, where controlling the endless conveyor andcontrolling the articulating blade is performed collectively for themost efficient cutting operation.

For one implementation of the technology, an automated computercontrolled system for performing a meat cut includes a track mountassembly mounted on an under carriage where said under carriage isconfigured to traverse along a path of a track and where a portion of anunderside of the undercarriage includes a magnetically coupled magneticinterface. An endless conveyor controls traverse of magnetically coupleditems attached to said endless conveyor, where the magnetically coupleditems are magnetically coupled to the magnetic interface of theunderside of the under carriage, thereby causing the undercarriage,track mount assembly and the meat item to traverse along the path of thetrack. A cut path control engine processing at a computer therebycalculates a final cut path from a retrieved cut path corresponding to aselected best matching point cloud template based on defined alignmentadjustments. For one implementation, the cut path control engine therebycontrols and articulates a blade of an ultrasonic knife along thecalculated final cut path with multiple degrees of freedom while cuttinga meat item, where articulating along the final cut path includesvibrating the blade at an ultrasonic frequency.

The various implementations and examples shown above illustrate a methodand system for use of an ultrasonic knife to perform a cut. A user ofthe present method and system may choose any of the aboveimplementations, or an equivalent thereof, depending upon the desiredapplication. In this regard, it is recognized that various forms of thesubject ultrasonic knife method and system could be utilized withoutdeparting from the scope of the present technology and variousimplementations as disclosed.

Certain systems, apparatus, applications or processes are describedherein as including a number of modules. A module may be a unit ofdistinct functionality that may be presented in software, hardware, orcombinations thereof. For example, the three dimensional scanners can beconsidered modules having photo sensors and software to control thecapture and exporting of the cloud data. A module can also include thecomputing system to which the three dimensional scanners are connected.When the functionality of a module is performed in any part throughsoftware, the module includes a computer-readable medium. The modulesmay be regarded as being communicatively coupled. By way of illustrationa computer implemented software module and/or hardware module for oneimplementation controls the track mount position, which is connectedwith modules controlling the path of the ultrasonic knife such that themovements are coordinated to perform the cut. The inventive subjectmatter may be represented in a variety of different implementations ofwhich there are many possible permutations.

The methods described herein do not have to be executed in the orderdescribed, or in any particular order. Moreover, various activitiesdescribed with respect to the methods identified herein can be executedin serial or parallel fashion. In the foregoing Detailed Description, itcan be seen that various features are grouped together in a singleembodiment for the purpose of streamlining the disclosure. This methodof disclosure is not to be interpreted as reflecting an intention thatthe claimed embodiments require more features than are expressly recitedin each claim. Rather, as the following claims reflect, inventivesubject matter may lie in less than all features of a single disclosedembodiment. Thus, the following claims are hereby incorporated into theDetailed Description, with each claim standing on its own as a separateembodiment.

In an example implementation, the machine operates as a standalonedevice or may be connected (e.g., networked) to other machines. In anetworked deployment, the machine may operate in the capacity of aserver or a client machine in server-client network environment, or as apeer machine in a peer-to-peer (or distributed) network environment. Themachine may be a server computer, a client computer, a personal computer(PC), a tablet PC, a set-top box (STB), a Personal Digital Assistant(PDA), a cellular telephone, a web appliance, a network router, switchor bridge, PLC or Robotic controller or any machine capable of executinga set of instructions (sequential or otherwise) that specify actions tobe taken by that machine or computing device. For the technology asdisclosed and claimed herein, a portion of the machine is a computingsystem 132. The computing system is modified to be particularlyconfigured to include a Point Cloud Engine, a Template Comparison andSelection Engine, a Point Cloud Crop Engine, an Alignment and Cut PathAdjustment Engine and a Cut Path Control Engine to perform the functionsas described herein. Further, while only a single machine isillustrated, the term “machine” shall also be taken to include anycollection of machines that individually or jointly execute a set (ormultiple sets) of instructions to perform any one or more of themethodologies discussed herein. If the machine is a computer, thecomputer can be modified by software to interface with and control otherhardware to perform tasks as with the various engines described herein.For the present technology as disclosed and claimed herein, thecomputing system is coupled with a robotic ultrasonic knife assemblyconfigured to be controlled by the computing system as disclosed andclaimed herein. Regarding the present disclosure, the computer can beconfigured with software that is operable to be executed to controlsignal outputs to the robotic arm.

The example computer system and client computers can include a processor(e.g., a central processing unit (CPU) a graphics processing unit (GPU)or both), a main memory and a static memory, which communicate with eachother via a bus. The computer system may further include avideo/graphical display unit (e.g., a liquid crystal display (LCD) or acathode ray tube (CRT)). The computer system and client computingdevices can also include an alphanumeric input device (e.g., akeyboard), a cursor control device (e.g., a mouse), a drive unit, asignal generation device (e.g., a speaker) and a network interfacedevice.

The drive unit includes a computer-readable medium on which is storedone or more sets of instructions (e.g., software) embodying any one ormore of the methodologies or systems described herein. The software mayalso reside, completely or at least partially, within the main memoryand/or within the processor during execution thereof by the computersystem, the main memory and the processor also constitutingcomputer-readable media. The software may further be transmitted orreceived over a network via the network interface device.

The term “computer-readable medium” should be taken to include a singlemedium or multiple media (e.g., a centralized or distributed database,and/or associated caches and servers) that store the one or more sets ofinstructions. The term “computer-readable medium” shall also be taken toinclude any medium that is capable of storing or encoding a set ofinstructions for execution by the machine and that cause the machine toperform any one or more of the methodologies of the presentimplementation. The term “computer-readable medium” shall accordingly betaken to include, but not be limited to, solid-state memories, andoptical media, and magnetic media.

As is evident from the foregoing description, certain aspects of thepresent implementation are not limited by the particular details of theexamples illustrated herein, and it is therefore contemplated that othermodifications and applications, or equivalents thereof, will occur tothose skilled in the art. It is accordingly intended that the claimsshall cover all such modifications and applications that do not departfrom the scope of the present implementation(s). Accordingly, thespecification and drawings are to be regarded in an illustrative ratherthan a restrictive sense.

The various ultrasonic knife examples described above illustrate amethod for performing a meat cut. A user of the present technology asdisclosed may choose any of the above implementations, or an equivalentthereof, depending upon the desired application. In this regard, it isrecognized that various forms of the subject ultrasonic knife could beutilized without departing from the scope of the present invention.

As is evident from the foregoing description, certain aspects of thepresent technology as disclosed are not limited by the particulardetails of the examples illustrated herein, and it is thereforecontemplated that other modifications and applications, or equivalentsthereof, will occur to those skilled in the art. It is accordinglyintended that the claims shall cover all such modifications andapplications that do not depart from the scope of the present technologyas disclosed and claimed.

Other aspects, objects and advantages of the present technology asdisclosed can be obtained from a study of the drawings, the disclosureand the appended claims.

What is claimed is:
 1. A debone mount jig for holding an item beingoperated on, comprising: a generally cone shaped mount, where a topportion forming an apex of the generally cone shaped mount that has atop portion diameter that is smaller as compared to a bottom portiondiameter which is larger with respect to the top portion diameter; saidcone shaped mount sized for insertion into a thoracic inlet of a poultrycarcass and into the interior cavity and said cone shaped mount widensfrom the top portion to the bottom portion in order to sufficientlyspread a clavicle area; a support structure, where said one end of saidsupport structure is attached to the generally cone shaped mountproximate the bottom portion, said support structure configured forsupporting and spreading apart the wings of a poultry carcass, wheresaid one end of said support structure extends laterally away from thegenerally cone shaped mount and extends vertically from one end of saidsupport structure upward to a distal end of said support structureproximate the apex of the generally shaped cone mount; and said distalend of said support structure having a top vertically upward facingsurface with a first member extending orthogonally from and with respectto the upward facing surface thereby configured for capturing andsupporting in a corner formed by the upward facing surface and themember extending orthogonally from the upward facing surface.
 2. Themount as recited in claim 1, where the upward facing surface has adownward slope towards the first member extending orthogonally withrespect to the upward facing surface and said slope is downward withrespect to horizontal.
 3. The mount as recited in claim 2, where thebottom portion of the generally cone shaped mount is attached on a standstructure and where the support structure attachment to the generallycone shaped mount is an attachment through the stand structure.
 4. Themount as recited in claim 3, comprising: a second member extendingorthogonally from the upward facing surface and distally spaced apartfrom the first member extending orthogonally.
 5. The mount as recited inclaim 4, where the upward facing surface includes a plurality of raisedribs that will resist movement during an operation.
 6. The mount asrecited in claim 1, comprising: a slot extending through the top portionand extending vertically down through the bottom portion; and a hookextending orthogonally from the slot, where said hook is attached to andcontrolled by a mechanical actuator to control the hook to traversevertically up and down along the slot from an upper retracted positionproximate the top portion, to a lower engaged position proximate thebottom portion to disengage and engage the hook.
 7. A method for using adebone mount jig for holding an item being operated on, comprising:mounting a thoracic inlet cavity opening of a bottom half of a wholecarcass poultry item over a generally cone shaped mount, where a topportion forming an apex of the generally cone shaped mount that has atop portion diameter that is smaller as compared to a bottom portiondiameter which is larger with respect to the top portion diameter andthereby spreading the clavicle area of the whole carcass poultry itemand positioning a shoulder joint in a sufficiently stable positionduring a deboning operation; and supporting a pit area of a wing of thewhole carcass poultry item on a support structure, where said one end ofsaid support structure is attached to the generally cone shaped mountproximate the bottom portion, said support structure configured forsupporting and spreading out the wing of the whole carcass poultry item,where said one end of said support structure extends laterally away fromthe generally cone shaped mount and extends vertically from one end ofsaid support structure upward to a distal end of said support structureproximate the apex of the generally shaped cone mount, where supportingthe pit area of the wing of the whole carcass poultry item includessupporting the pit area on a top vertically upward facing surface of thedistal end of the support structure with a first member extendingorthogonally from and with respect to the upward facing surface therebyconfigured for capturing and supporting the pit area in a corner formedby the upward facing surface and the member extending orthogonally fromthe upward facing surface.
 8. The method for using the mount as recitedin claim 7, where supporting the pit area on a support structureincludes supporting the pit area on the upward facing surface having adownward slope towards the first member extending orthogonally withrespect to the upward facing surface and said slope is extendingdownward with respect to horizontal.
 9. The method for using the mountas recited in claim 8, where the bottom portion of the generally coneshaped mount is attached on a stand structure and where the supportstructure attachment to the generally cone shaped mount is an attachmentthrough the stand structure.
 10. The method for using the mount asrecited in claim 9, where supporting the pit area on the supportstructure includes supporting the pit area on the upward facing surfacebetween the first member and a second member extending orthogonally fromthe upward facing surface and distally spaced apart from the firstmember extending orthogonally.
 11. The method for using the mount asrecited in claim 10, where supporting the pit area on the supportstructure includes supporting the pit area on the upward facing surfaceincluding a plurality of raised ribs that will resist movement during anoperation.
 12. The method for using the mount as recited in claim 7,comprising: controlling a hook extending orthogonally from a slotextending through the top portion and extending vertically down throughthe bottom portion with a mechanical actuator thereby controlling thehook to traverse vertically up and down along the slot from an upperretracted position proximate the top portion, to a lower engagedposition proximate the bottom portion to disengage and engage the hook.13. A debone mount jig for holding an item being operated on,comprising: a generally cone shaped mount, where a top portion formingan apex of the generally cone shaped mount that has a top portiondiameter that is smaller as compared to a bottom portion diameter whichis larger with respect to the top portion diameter; said cone shapedmount sized for insertion into a thoracic inlet of a poultry carcass andinto the interior cavity and said cone shaped mount widens from the topportion to the bottom portion in order to sufficiently spread a claviclearea; a support structure, where said one end of said support structureis attached to the generally cone shaped mount proximate the bottomportion, said support structure configured for supporting and spreadingapart the wings of a poultry carcass, where said one end of said supportstructure extends laterally away from the generally cone shaped mountand extends vertically from one end of said support structure upward toa distal end of said support structure proximate the apex of thegenerally shaped cone mount; said distal end of said support structurehaving a top vertically upward facing surface with a first memberextending orthogonally from and with respect to the upward facingsurface thereby configured for capturing and supporting in a cornerformed by the upward facing surface and the member extendingorthogonally from the upward facing surface, where the bottom portion ofthe generally cone shaped mount is attached on a stand structure andwhere the support structure attachment to the generally cone shapedmount is an attachment through the stand structure; and a carriageassembly having a wheel, where said stand structure is mounted on top ofthe carriage assembly.
 14. The debone mount jig for holding an itembeing operated on as recited in claim 13, where the carriage assemblyincludes an underside having one of a magnet and a ferrous material. 15.The debone mount jig for holding an item being operated on as recited inclaim 14, comprising: a track wheel assembly extending laterally fromthe support structure.
 16. The mount as recited in claim 15, where theupward facing surface has a downward slope towards the first memberextending orthogonally with respect to the upward facing surface andsaid slope is downward with respect to horizontal.
 17. The mount asrecited in claim 16, where the bottom portion of the generally coneshaped mount is attached on a stand structure and where the supportstructure attachment to the generally cone shaped mount is an attachmentthrough the stand structure.
 18. The mount as recited in claim 17,comprising: a second member extending orthogonally from the upwardfacing surface and distally spaced apart from the first member extendingorthogonally.
 19. The mount as recited in claim 18, where the upwardfacing surface includes a plurality of raised ribs that will resistmovement during an operation.